125 citations · 543 across the 31 of their papers we have counts for
17 papers · 1 filter
Sequential Joint Shape and Pose Estimation of Vehicles with Application to Automatic Amodal Segmentation Labeling
Josephine Monica, Wei-Lun Chao, Mark Campbell
Shape and pose estimation is a critical perception problem for a self-driving car to fully understand its surrounding environment. One fundamental challenge in solving this problem…
Exploiting Natural Language for Efficient Risk-Aware Multi-robot SaR Planning
Vikram Shree, Beatriz Asfora, Rachel Zheng +3
The ability to develop a high-level understanding of a scene, such as perceiving danger levels, can prove valuable in planning multi-robot search and rescue (SaR) missions. In this…
Detecting and Mapping Trees in Unstructured Environments with a Stereo Camera and Pseudo-Lidar
Brian H. Wang, Carlos Diaz-Ruiz, Jacopo Banfi +1
We present a method for detecting and mapping trees in noisy stereo camera point clouds, using a learned 3-D object detector. Inspired by recent advancements in 3-D object detectio…
Planning Paths Through Unknown Space by Imagining What Lies Therein
Yutao Han, Jacopo Banfi, Mark Campbell
This paper presents a novel framework for planning paths in maps containing unknown spaces, such as from occlusions. Our approach takes as input a semantically-annotated point clou…
Mixed-Integer Linear Programming Models for Multi-Robot Non-Adversarial Search
Beatriz A. Asfora, Jacopo Banfi, Mark Campbell
In this letter, we consider the Multi-Robot Efficient Search Path Planning (MESPP) problem, where a team of robots is deployed in a graph-represented environment to capture a movin…
DeepSemanticHPPC: Hypothesis-based Planning over Uncertain Semantic Point Clouds
Yutao Han, Hubert Lin, Jacopo Banfi +2
Planning in unstructured environments is challenging -- it relies on sensing, perception, scene reconstruction, and reasoning about various uncertainties. We propose DeepSemanticHP…
Interactive Natural Language-based Person Search
Vikram Shree, Wei-Lun Chao, Mark Campbell
In this work, we consider the problem of searching people in an unconstrained environment, with natural language descriptions. Specifically, we study how to systematically design a…
Pedestrian Motion Model Using Non-Parametric Trajectory Clustering and Discrete Transition Points
Yutao Han, Rina Tse, Mark Campbell
This paper presents a pedestrian motion model that includes both low level trajectory patterns, and high level discrete transitions. The inclusion of both levels creates a more gen…
Autonomous Urban Localization and Navigation with Limited Information
Jordan Chipka, Mark Campbell
Urban environments offer a challenging scenario for autonomous driving. Globally localizing information, such as a GPS signal, can be unreliable due to signal shadowing and multipa…
Secure Minimum Time Planning Under Environmental Uncertainty: an Extended Treatment
Alexander Ivanov, Mark Campbell
Cyber Physical Systems (CPS) are becoming ubiquitous and affect the physical world, yet security is seldom at the forefront of their design. This is especially true of robotic cont…
Perception-Informed Autonomous Environment Augmentation With Modular Robots
Tarik Tosun, Jonathan Daudelin, Gangyuan Jing +3
We present a system enabling a modular robot to autonomously build structures in order to accomplish high-level tasks. Building structures allows the robot to surmount large obstac…
An Integrated System for Perception-Driven Autonomy with Modular Robots
Jonathan Daudelin, Gangyuan Jing, Tarik Tosun +3
The theoretical ability of modular robots to reconfigure in response to complex tasks in a priori unknown environments has frequently been cited as an advantage and remains a major…
An Extended Consideration of Joint Exploration and Tracking: JET
Alexander Ivanov, Mark Campbell
Autonomous exploration and multi-object tracking by a team of agents have traditionally been considered as two separate, yet related, problems which are usually solved in two phase…
An Extended Treatment of Uncertainty Constrained robotic Exploration: An Integrated Exploration Planner
Alexander Ivanov, Mark Campbell
Efficient robotic exploration of unknown, sensor limited, global-information-deficient environments poses unique challenges to path planning algorithms. In these difficult environm…
Qualitative Relational Mapping and Navigation for Planetary Rovers
Mark McClelland, Tara Estlin, Mark Campbell
This paper presents a novel method for qualitative mapping of large scale spaces. The proposed framework makes use of a graphical representation of the world in order to build a ma…
Discrete and Continuous, Probabilistic Anticipation for Autonomous Robots in Urban Environments
Frank Havlak, Mark Campbell
This paper develops a probabilistic anticipation algorithm for dynamic objects observed by an autonomous robot in an urban environment. Predictive Gaussian mixture models are used…
On Generalized Bayesian Data Fusion with Complex Models in Large Scale Networks
Nisar Ahmed, Tsung-Lin Yang, Mark Campbell
Recent advances in communications, mobile computing, and artificial intelligence have greatly expanded the application space of intelligent distributed sensor networks. This in tur…