Browsing by Author "Gordon Wyeth"

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Browsing by Author "Gordon Wyeth"

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  • Accurate Large-Scale Bearing-Only SLAM by Map Joining 
    Ahmad Adizul; Huang Shoudong; Dissanayake Gamini (Australasian Conference on Robotics and Automation, 2010)
    This paper presents a bearing-only SLAM algorithm that generates accurate and consistent maps of large environments by joining a series of small local maps. The local maps are built by least squares optimization with a ...
  • Manipulator-based Grasping Pose Selection by means of Task-Objective Optimisation 
    Richards David; Paul Gavin; Webb Stephen; Kirchner Nathan (Australasian Conference on Robotics and Automation, 2010)
    This paper presents an alternative to inverse kinematics for mobile manipulator grasp pose selection which integrates obstacle avoidance and joint limit checking into the pose selection process. Given the Cartesian coordinates ...
  • Probabilistic Models versus Discriminate Classifiers for Human Activity Recognition with an Instrumented Mobility-Assistance Aid 
    Patel Miteshkumar; Khushaba Rami N; Valls Miro Jaime; Dissanayake Gamini (Australasian Conference on Robotics and Automation, 2010)
    Detection of individuals' intentions and actions from a stream of human behaviour is an open and complex problem. There is however an intrinsic need to automatically recognise the activities performed by users of mobility ...
  • A Robotic System for Steel Bridge Maintenance: Field Testing 
    Paul Gavin; Webb Stephen; Liu Dikai; Dissanayake Gamini (Australasian Conference on Robotics and Automation, 2010)
    This paper presents the field testing results of an autonomous manipulator-based robotic system that strips the paint and rust from steel bridges [Liu et al., 2008]. The key components of this system are sensing and planning, ...
  • Robust and Efficient People Detection with 3-D Range Data using Shape Matching 
    Hordern Daniel; Kirchner Nathan (Australasian Conference on Robotics and Automation, 2010)
    Information about the location of a person is a necessity for Human-Robot Interaction (HRI) as it enables the robot to make human aware decisions and facilitates the extraction of further useful information; such as low-level ...
  • Robust Manipulability-Centric Object Detection in Time-of-Flight Camera Point Clouds 
    Caraian Sonja; Kirchner Nathan (Australasian Conference on Robotics and Automation, 2010)
    This paper presents a method for robustly identifying the manipulability of objects in a scene based on the capabilities of the manipulator. The method uses a directed histogram search of a time-of-flight camera generated ...
  • Semantic Grid Map Building 
    Shi Lei; Kodagoda Sarath; Dissanayake Gamini (Australasian Conference on Robotics and Automation, 2010)
    Conventional Occupancy Grid (OG) map which contains occupied and unoccupied cells can be enhanced by incorporating semantic labels of places to build semantic grid map. Map with semantic information is more understandable ...
  • Torso Detection and Tracking using a 2D Laser Range Finder 
    Zainudin Zulkarnain; Kodagoda Sarath; Dissanayake Gamini (Australasian Conference on Robotics and Automation, 2010)
    Detecting and tracking people in populated environments has various applications including, robotics, healthcare, automotive, security and defence. In this paper, we present an algorithm for people detection and tracking ...