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We consider the problem of grasping novel objects in cluttered environments. If a full 3-d model of the scene were available, one could use the model to estimate the stability and robustness of different grasps (formalized as form/force-closure, etc); in practice, however, a robot facing a novel object will usually be able to perceive only the front(More)
Object search is an integral part of daily life, and in the quest for competent mobile manipulation robots it is an unavoidable problem. Previous approaches focus on cases where objects are in unknown rooms but lying out in the open, which transforms object search into active visual search. However, in real life, objects may be in the back of cupboards(More)
Autonomous mobile-manipulation robots need to sense and interact with objects to accomplish high-level tasks such as preparing meals and searching for objects. To achieve such tasks, robots need semantic world models, defined as object-based representations of the world involving task-level attributes. In this work, we address the problem of estimating(More)
Spatial representations are fundamental to mobile robots operating in uncertain environments. Two frequently-used representations are occupancy grid maps, which only model metric information, and object-based world models, which only model object attributes. Many tasks represent space in just one of these two ways; however, because objects must be(More)
We present our vision-based system for grasping novel objects in cluttered environments. Our system can be divided into four components: 1) decide where to grasp an object, 2) perceive obstacles, 3) plan an obstacle-free path, and 4) follow the path to grasp the object. While most prior work assumes availability of a detailed 3-d model of the environment,(More)
In this paper, we describe our methodologies and empirical evaluations for the shot boundary detection and automatic video search tasks at TRECVID 2006. For the shot boundary detection task, we consider a simple and efficient solution. Our approach first applies adaptive thresholding on color histogram differences between frames to select candidates for(More)
This study compared subject performance and preference using a compression-limiting hearing aid set to linear amplification (program 1) and wide dynamic range compression (WDRC, program 2). The frequency responses of the hearing aid were matched to a 65 dB SPL signal and maximum output to a 90 dB SPL signal. Twenty subjects with moderate to moderately(More)
In state estimation, we often want the maximum likelihood estimate of the current state. For the commonly used joint multivariate Gaussian distribution over the state space, this can be efficiently found using a Kalman filter. However, in complex environments the state space is often highly constrained. For example, for objects within a refrigerator, they(More)
  • L Wong
  • 2000
The Pedigree Visualizer is a system for visualization of pedigree diagrams. It accepts a simple text-based specification of a pedigree diagram. The pedigree diagram is then layout automatically. Both GIF- and PS-formatted output files are produced. In addition, the Pedigree Visualizer also provides a rich set of functions for the manipulation and management(More)
Fig. 1. Given a tabletop scene (top), we want to estimate the types and poses of objects in the scene using a black-box object detector. From a single Kinect RGB-D image, however, objects may be occluded or erroneously classified. The bottom left depicts a rendered image, with detections superimposed in red; three objects are missing due to occlusion, and(More)