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Building facade detection is an important problem in computer vision, with applications in mobile robotics and semantic scene understanding. In particular, mobile platform localization and guidance in urban environments can be enabled with an accurate segmentation of the various building facades in a scene. Toward that end, we present a system for(More)
Localization and modeling of stairways by mobile robots can enable multi-floor exploration for those platforms capable of stair traversal. Existing approaches focus on either stairway detection or traversal, but do not address these problems in the context of path planning for the autonomous exploration of multi-floor buildings. We propose a system for(More)
We consider the problem of next-best view selection for volumetric reconstruction of an object by a mobile robot equipped with a camera. Based on a probabilistic volumetric map that is built in real time, the robot can quantify the expected information gain from a set of discrete candidate views. We propose and evaluate several formulations to quantify this(More)
Microarray-based comparative genomic hybridization (aCGH) offers an increasingly fine-grained method for detecting copy number variations in DNA. These copy number variations can directly influence the expression of the proteins that are encoded in the genes in question. A useful analysis of the data produced from these microarray experiments is pairwise(More)
We consider the problem of performing rapid training of a terrain classifier in the context of a collaborative robotic search and rescue system. Our system uses a vision-based flying robot to guide a ground robot through unknown terrain to a goal location by building a map of terrain class and elevation. However, due to the unknown environments present in(More)
Boosting has been widely used for discriminative modeling of objects in images. Conventionally, pixel- and patch-based features have been used, but recently, features defined on multilevel aggregate regions were incorporated into the boosting framework, and demonstrated significant improvement in object labeling tasks. In this paper, we further extend the(More)
Many robotics platforms are capable of ascending stairways, but all existing approaches for autonomous stair climbing use stairway detection as a trigger for immediate traversal. In the broader context of autonomous exploration, the ability to travel between floors of a building should be compatible with path planning, such that the robot can traverse a(More)
We present AirTouch, a new vision-based interaction system. AirTouch uses computer vision techniques to extend commonly used interaction metaphors, such as multitouch screens, yet removes any need to physically touch the display. The user interacts with a virtual plane that rests in between the user and the display. On this plane, hands and fingers are(More)