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Skip to Search Results- 1Ahmad, Junaid
- 1Birkbeck, Neil Aylon Charles
- 1Farahmand, Amir-massoud
- 1Fink, Geoffrey
- 1Gridseth, Mona
- 1He, Shida
- 7Robotics
- 2Computer Vision
- 2Human Robot Interaction
- 2Image registration
- 2Incremental
- 2Machine Learning
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Fall 2021
This thesis studies how to enable a real-world robot to efficiently learn a new task by watching human demonstration videos. We propose to introduce a geometric task structure as an interpretable inductive bias to the learning problem. We aim to learn a representation that geometrically encodes...
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Spring 2023
Simultaneous Localization and Mapping(SLAM) has been very popular in the past and is gaining more traction in the era of autonomous vehicle research and robot manipulation. Computing accurate surface models from sparse Visual SLAM 3D point clouds is difcult. There have been works where...
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Fall 2017
This thesis presents a new way to conceptualize and study image registration based visual trackers by decomposing them into three constituent sub modules - search method, appearance model and state space model. It shows how this approach can be used to break down existing trackers and thus unify...
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Pointing gestures for Cooperative Human-Robot Manipulation Tasks in Unstructured Environments
DownloadFall 2017
In recent years, robots have started to migrate from industrial to unstructured human environments, some examples include home robotics, search and rescue robotics, assistive robotics and service robotics. However, this migration has been at a slow pace and with only a few successes. One key...
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Fall 2011
This thesis studies the reinforcement learning and planning problems that are modeled by a discounted Markov Decision Process (MDP) with a large state space and finite action space. We follow the value-based approach in which a function approximator is used to estimate the optimal value function....
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Spring 2016
When controlling dynamic systems such as robots a big challenge lies in defining how the desired actions will be accomplished. In industrial settings automation has been possible due to the structured and predictable environments. The repeatability of the tasks makes it viable to manually...
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Uncalibrated Vision-Based Control and Motion Planning of Robotic Arms in Unstructured Environments
DownloadFall 2012
Many robotic systems are required to operate in unstructured environments. This imposes significant challenges on algorithm design. Particularly, motion control and planning algorithms should be robust to noise and outliers, because uncertainties are inevitable. In addition, independence from...
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Spring 2020
The human vision system has an effective mechanism for retrieving and localizing the most important information from visual scenes. In computer vision,Salient Object Detection (SOD) algorithms aim at modeling this mechanism by extracting or segmenting these salient targets from given images or...
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Fall 2015
In today's world robots work well in structured environments, where they complete tasks autonomously and accurately. This is evident from industrial robotics. However, in unstructured and dynamic environments such as for instance homes, hospitals or areas affected by disasters, robots are still...