Alexander J. B. Trevor

Georgia Institute of Technology

Author Statistics

Papers

Citation

H-Index

i-10 index

Research Trends

Author Order

Document Type

Co-Authors

Henrik I. Christensen

University of California, San Diego

John G. Rogers

United States Army Combat Capabilities Development Command

Carlos Nieto-Granda

DEVCOM Army Research Laboratory

Akansel Cosgun

Deakin University

Hai Nguyen

The University of Tokyo

Cressel Anderson

Georgia Institute of Technology

Charles C. Kemp

Georgia Institute of Technology

Frank Dellaert

Georgia Institute of Technology

Ben Axelrod

iRobot (United States)

Richard Roberts

University of Melbourne

Cooperative Institutions

Georgia Institute of Technology

Atlanta Technical College

Carnegie Mellon University

University of California, San Diego

DEVCOM Army Research Laboratory

United States Army Combat Capabilities Development Command

Massachusetts Institute of Technology

Google (United States)

Contextual Change (United States)

Nanjing University of Aeronautics and Astronautics

Author Statistics

Papers

Citation

H-Index

i-10 index

Research Field

Playing with toys: Towards autonomous robot manipulation for therapeutic play

Alexander J. B. Trevor Hae Won Park Andrew W. Howard Charles C. Kemp

When young children play, they often manipulate toys that have been specifically designed to accommodate and stimulate their perceptual-motor skills. Robotic playmates capable of physically manipulating toys have the potential to engage children in therapeutic play and augment the beneficial interactions provided by overtaxed care givers and costly therapists. To date, assistive robots for children have almost exclusively focused on social interactions and teleoperative control. Within this paper we present progress towards the creation of robots that can engage children in manipulative play. First, we present results from a survey of popular toys for children under the age of 2 which indicates that these toys share simplified appearance properties and are designed to support a relatively small set of coarse manipulation behaviors. We then present a robotic control system that autonomously manipulates several toys by taking advantage of this consistent structure. Finally, we show results from an integrated robotic system that imitates visually observed toy playing activities and is suggestive of opportunities for robots that play with toys.

10.1109/robot.2009.5152589

Cite

Citations (12)

Interactive object modeling & labeling for service robots

2016 11th ACM/IEEE International Conference on Human-Robot Interaction (HRI) (2013)

Alexander J. B. Trevor John G. Rogers Akansel Cosgun Henrik I. Christensen

We present an interactive object modeling and labeling system for service robots. The system enables a user to interactively create object models for a set of objects. Users also provide a label for each object, allowing it to be referenced later. Interaction with the robot occurs via a combination of a smartphone UI and pointing gestures.

Service robot

10.1109/hri.2013.6483627

Cite

Citations (8)

Applying domain knowledge to SLAM using virtual measurements

Alexander J. B. Trevor John G. Rogers Carlos Nieto Henrik I. Christensen

Simultaneous Localization and Mapping (SLAM) aims to estimate the maximum likelihood map and robot pose based on a robot's control and sensor measurements. In structured environments, such as human environments, we might have additional domain knowledge that could be applied to produce higher quality mapping results. We present a method for using virtual measurements, which are measurements between two features in our map. To demonstrate this, we present a system that uses such virtual measurements to relate visually detected points to walls detected with a laser scanner.

Laser Scanning

10.1109/robot.2010.5509497

Cite

Citations (19)

SLAM with Expectation Maximization for moveable object tracking

2011 IEEE/RSJ International Conference on Intelligent Robots and Systems (2010)

John G. Rogers Alexander J. B. Trevor Carlos Nieto-Granda Henrik I. Christensen

The goal of simultaneous localization and mapping (SLAM) is to compute the posterior distribution over landmark poses. Typically, this is made possible through the static world assumption - the landmarks remain in the same location throughout the mapping procedure. Some prior work has addressed this assumption by splitting maps into static and dynamic sets, or by recognizing moving landmarks and tracking them. In contrast to previous work, we apply an Expectation Maximization technique to a graph based SLAM approach and allow landmarks to be dynamic. The batch nature of this operation enables us to detect moveable landmarks and factor them out of the map. We demonstrate the performance of this algorithm with a series of experiments with moveable landmarks in a structured environment.

Landmark

Tracking (education)

Maximization

Factor graph

10.1109/iros.2010.5652091

Cite

Citations (19)

A point-and-click interface for the real world

Charles C. Kemp Cressel Anderson Hai Nguyen Alexander J. B. Trevor Zhe Xu

We present a novel interface for human-robot interaction that enables a human to intuitively and unambiguously select a 3D location in the world and communicate it to a mobile robot. The human points at a location of interest and illuminates it (``clicks it'') with an unaltered, off-the-shelf, green laser pointer. The robot detects the resulting laser spot with an omnidirectional, catadioptric camera with a narrow-band green filter. After detection, the robot moves its stereo pan/tilt camera to look at this location and estimates the location's 3D position with respect to the robot's frame of reference.

Omnidirectional camera

Catadioptric system

Laser pointer

Interface (matter)

10.1145/1349822.1349854

Cite

Citations (124)

Semantic map partitioning in indoor environments using regional analysis

2011 IEEE/RSJ International Conference on Intelligent Robots and Systems (2010)

Carlos Nieto-Granda John G. Rogers Alexander J. B. Trevor Henrik I. Christensen

Classification of spatial regions based on semantic information in an indoor environment enables robot tasks such as navigation or mobile manipulation to be spatially aware. The availability of contextual information can significantly simplify operation of a mobile platform. We present methods for automated recognition and classification of spaces into separate semantic regions and use of such information for generation of a topological map of an environment. The association of semantic labels with spatial regions is based on Human Augmented Mapping. The methods presented in this paper are evaluated both in simulation and on real data acquired from an office environment.

Semantic mapping

Data association

10.1109/iros.2010.5650575

Cite

Citations (62)

Planar surface SLAM with 3D and 2D sensors

Alexander J. B. Trevor John G. Rogers Henrik I. Christensen

We present an extension to our feature based mapping technique that allows for the use of planar surfaces such as walls, tables, counters, or other planar surfaces as landmarks in our mapper. These planar surfaces are measured both in 3D point clouds, as well as 2D laser scans. These sensing modalities compliment each other well, as they differ significantly in their measurable fields of view and maximum ranges. We present experiments to evaluate the contributions of each type of sensor.

Feature (linguistics)

Surface reconstruction

10.1109/icra.2012.6225287

Cite

Citations (128)

A New Mobile Manipulation Platform for Automatic Coffee Retrieval

Cressel Anderson Ben Axelrod J. Philip Case Jaeil Choi Martin Engel

A new platform for mobile manipulation consisting of a Segway RMP base and a KUKA KR-5 sixx manipulator was developed at the Georgia Institute of Technology in the context of a class. Students formed three teams whose goal was to design a system capable of autonomously serving coffee. Each team took a different approach to the problem in terms of system architecture, visual recognition, and grasping procedure. The approaches used by the students and their merits with respect to this task are presented.

Mobile manipulator

Base (topology)

Manipulator (device)

Source

Cite

Citations (0)

Effects of Sensory Precision on Mobile Robot Localization and Mapping

Springer tracts in advanced robotics (2013)

John G. Rogers Alexander J. B. Trevor Carlos Nieto-Granda Alex Cunningham Manohar Paluri

10.1007/978-3-642-28572-1_30

Cite

Citations (12)