Henrik I. Christensen

University of California, San Diego

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John G. Rogers

United States Army Combat Capabilities Development Command

Patric Jensfelt

KTH Royal Institute of Technology

Danica Kragić

KTH Royal Institute of Technology

Carlos Nieto-Granda

DEVCOM Army Research Laboratory

Erik Granum

Aalborg University

Alexander J. B. Trevor

Georgia Institute of Technology

David Paz

Robert Bosch (United States)

Hengyuan Zhang

University of California, San Diego

Ruffin White

UC San Diego Health System

Anwesan Pal

UC San Diego Health System

Cooperative Institutions

Google (United States)

117

Georgia Institute of Technology

116

Stanford University

102

University of California, Berkeley

101

University of California, San Diego

Weatherford College

Carnegie Mellon University

DeepMind (United Kingdom)

KTH Royal Institute of Technology

Massachusetts Institute of Technology

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Detecting structural ambiguities and transitions during a guided tour

Elin Anna Topp Henrik I. Christensen

Service robots designed for domestic settings need to navigate in an environment that they have to share with their users. Thus, they have to be able to report their current state and whereabouts in a way that is comprehensible for the user. Pure metric maps do not usually correspond to the understanding of the environment a user would provide. Thus, the robotic map needs to be integrated with the human representation. With our framework for Human Augmented Mapping we aim to deal with this issue and assume a guided tour as basis for an initial mapping process. During such a tour the robotic system needs to be able to detect significant changes in its environment representation - structural ambiguities - to be able to invoke a clarification discourse with the user. In this paper we present our approach to the detection of such ambiguities, that is independent from prior specification and training of particular spatial categories. We evaluate our method on data sets obtained during several runs in indoor environments in the context of a guided tour scenario.

Representation

10.1109/robot.2008.4543599

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Citations (17)

Combating COVID-19—The role of robotics in managing public health and infectious diseases

Science Robotics (2020)

Guang‐Zhong Yang Bradley J. Nelson Robin R. Murphy Howie Choset Henrik I. Christensen

COVID-19 may drive sustained research in robotics to address risks of infectious diseases.

2019-20 coronavirus outbreak

Pandemic

Betacoronavirus

Coronavirus Infections

10.1126/scirobotics.abb5589

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Citations (514)

Electrochemical Reactor for Exhaust Gas Purification

SAE technical papers on CD-ROM/SAE technical paper series (1999)

Henrik I. Christensen Jørgen Dinesen Henriette Hare Engell Kent Kammer Hansen

10.4271/1999-01-0472

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Citations (10)

Computational visual attention systems and their cognitive foundations

ACM Transactions on Applied Perception (2010)

Simone Frintrop Erich Rome Henrik I. Christensen

Based on concepts of the human visual system, computational visual attention systems aim to detect regions of interest in images. Psychologists, neurobiologists, and computer scientists have investigated visual attention thoroughly during the last decades and profited considerably from each other. However, the interdisciplinarity of the topic holds not only benefits but also difficulties: Concepts of other fields are usually hard to access due to differences in vocabulary and lack of knowledge of the relevant literature. This article aims to bridge this gap and bring together concepts and ideas from the different research areas. It provides an extensive survey of the grounding psychological and biological research on visual attention as well as the current state of the art of computational systems. Furthermore, it presents a broad range of applications of computational attention systems in fields like computer vision, cognitive systems, and mobile robotics. We conclude with a discussion on the limitations and open questions in the field.

Computational model

Open research

Bridge (graph theory)

Vision science

10.1145/1658349.1658355

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Citations (394)

Sensor Based Intelligent Robots: International Workshop Dagstuhl Castle, Germany, September 28 - October 2, 1998 Selected Papers

Horst Bunke Henrik I. Christensen Hartmut Noltemeier

Markov Localization for Reliable Robot Navigation and People Detection.- Relocalisation by Partial Map Matching.- Localization and On-Line Map Building for an Autonomous Mobile Robot.- Interactive Learning of World Model Information for a Service Robot.- MAid: A Robotic Wheelchair Operating in Public Environments.- Interactive Robot Programming Based on Human Demonstration and Advice.- Towards Smarter Cars.- Active Control of Resolution for Stable Visual Tracking.- Near-Optimal Sensor-Based Navigation in an Environment Cluttered with Simple Shapes.- Realistic Environment Models and Their Impact on the Exact Solution of the Motion Planning Problem.- Robot Localization Using Polygon Distances.- On-Line Searching in Simple Polygons.- Distributed Algorithms for Carrying a Ladder by Omnidirectional Robots in Near Optimal Time.- Modeling and Stability Analysis of the Dynamic Behavior in Load Sharing Systems.- Recent Advances in Range Image Segmentation.- ISR: An Intelligent Service Robot.- Vision-Based Behavior Control of Autonomous Systems by Fuzzy Reasoning.

Service robot

Polygon (computer graphics)

Mobile Robot Navigation

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Issue Information

AI Magazine (2023)

Kristen Brent Venable Erik Gundersen Zelei Liu Yuanyuan Chen Yansong Zhao

10.1002/aaai.12046

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IAPR Proceedings of the 7th Scandinavian Conference on Image Analysis, 1991, Aalborg, Denmark

C. S. Andersen J. J. Sørensen Henrik I. Christensen

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Localizing un-calibrated, reactive camera motion in an object centered coordinate system

Claus Madsen Henrik I. Christensen

10.1109/vl.1994.365600

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Citations (1)

Exploiting symmetries and extrusions for grasping household objects

Ana Huamán Quispe Benoit Milville Marco A. Gutiérrez Can Erdoğan Mike Stilman

In this paper we present an approach for creating complete shape representations from a single depth image for robot grasping. We introduce algorithms for completing partial point clouds based on the analysis of symmetry and extrusion patterns in observed shapes. Identified patterns are used to generate a complete mesh of the object, which is, in turn, used for grasp planning. The approach allows robots to predict the shape of objects and include invisible regions into the grasp planning step. We show that the identification of shape patterns, such as extrusions, can be used for fast generation and optimization of grasps. Finally, we present experiments performed with our humanoid robot executing pick-up tasks based on single depth images and discuss the applications and shortcomings of our approach.

Identification

10.1109/icra.2015.7139713

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Citations (39)

3D textureless object detection and tracking: An edge-based approach

2011 IEEE/RSJ International Conference on Intelligent Robots and Systems (2012)

Changhyun Choi Henrik I. Christensen

This paper presents an approach to textureless object detection and tracking of the 3D pose. Our detection and tracking schemes are coherently integrated in a particle filtering framework on the special Euclidean group, SE(3), in which the visual tracking problem is tackled by maintaining multiple hypotheses of the object pose. For textureless object detection, an efficient chamfer matching is employed so that a set of coarse pose hypotheses is estimated from the matching between 2D edge templates of an object and a query image. Particles are then initialized from the coarse pose hypotheses by randomly drawing based on costs of the matching. To ensure the initialized particles are at or close to the global optimum, an annealing process is performed after the initialization. While a standard edge-based tracking is employed after the annealed initialization, we employ a refinement process to establish improved correspondences between projected edge points from the object model and edge points from an input image. Comparative results for several image sequences with clutter are shown to validate the effectiveness of our approach.

Initialization

Template matching

Tracking (education)

10.1109/iros.2012.6386065

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Citations (83)