86 citations · 204 across the 18 of their papers we have counts for
23 papers
Lessons Learned Developing an Assembly System for WRS 2020 Assembly Challenge
Aayush Naik, Priyam Parashar, Jiaming Hu +1
The World Robot Summit (WRS) 2020 Assembly Challenge is designed to allow teams to demonstrate how one can build flexible, robust systems for assembly of machined objects. We prese…
Meta-Modeling of Assembly Contingencies and Planning for Repair
Priyam Parashar, Aayush Naik, Jiaming Hu +1
The World Robotics Challenge (2018 & 2020) was designed to challenge teams to design systems that are easy to adapt to new tasks and to ensure robust operation in a semi-structured…
Robotics Enabling the Workforce
Henrik Christensen, Maria Gini, Odest Chadwicke Jenkins +1
Robotics has the potential to magnify the skilled workforce of the nation by complementing our workforce with automation: teams of people and robots will be able to do more than ei…
Learning hierarchical relationships for object-goal navigation
Yiding Qiu, Anwesan Pal, Henrik I. Christensen
Direct search for objects as part of navigation poses a challenge for small items. Utilizing context in the form of object-object relationships enable hierarchical search for targe…
Looking at the right stuff: Guided semantic-gaze for autonomous driving
Anwesan Pal, Sayan Mondal, Henrik I. Christensen
In recent years, predicting driver's focus of attention has been a very active area of research in the autonomous driving community. Unfortunately, existing state-of-the-art techni…
Network Reconnaissance and Vulnerability Excavation of Secure DDS Systems
Ruffin White, Gianluca Caiazza, Chenxu Jiang +4
Distribution Service (DDS) is a realtime peer-to-peer protocol that serves as a scalable middleware between distributed networked systems found in many Industrial IoT domains such…
DEDUCE: Diverse scEne Detection methods in Unseen Challenging Environments
Anwesan Pal, Carlos Nieto-Granda, Henrik I. Christensen
In recent years, there has been a rapid increase in the number of service robots deployed for aiding people in their daily activities. Unfortunately, most of these robots require h…
Procedurally Provisioned Access Control for Robotic Systems
Ruffin White, Gianluca Caiazza, Henrik I. Christensen +1
Security of robotics systems, as well as of the related middleware infrastructures, is a critical issue for industrial and domestic IoT, and it needs to be continuously assessed th…
Purely Geometric Scene Association and Retrieval - A Case for Macro Scale 3D Geometry
Rahul Sawhney, Fuxin Li, Henrik I. Christensen +1
We address the problems of measuring geometric similarity between 3D scenes, represented through point clouds or range data frames, and associating them. Our approach leverages mac…
Efficient Hierarchical Graph-Based Segmentation of RGBD Videos
Steven Hickson, Stan Birchfield, Irfan Essa +1
We present an efficient and scalable algorithm for segmenting 3D RGBD point clouds by combining depth, color, and temporal information using a multistage, hierarchical graph-based…
Context Aware Robot Navigation using Interactively Built Semantic Maps
Akansel Cosgun, Henrik Christensen
We discuss the process of building semantic maps, how to interactively label entities in them, and how to use them to enable context-aware navigation behaviors in human environment…
Semantic Instance Labeling Leveraging Hierarchical Segmentation
Steven Hickson, Irfan Essa, Henrik Christensen
Most of the approaches for indoor RGBD semantic la- beling focus on using pixels or superpixels to train a classi- fier. In this paper, we implement a higher level segmentation usi…
Distributed Mapping with Privacy and Communication Constraints: Lightweight Algorithms and Object-based Models
Siddharth Choudhary, Luca Carlone, Carlos Nieto +3
We consider the following problem: a team of robots is deployed in an unknown environment and it has to collaboratively build a map of the area without a reliable infrastructure fo…
SROS: Securing ROS over the wire, in the graph, and through the kernel
Ruffin White, Dr. Henrik I. Christensen, Dr. Morgan Quigley
SROS is a proposed addition to the ROS API and ecosystem to support modern cryptography and security measures. An overview of current progress will be presented, rationalizing each…
StuffNet: Using 'Stuff' to Improve Object Detection
Samarth Brahmbhatt, Henrik I. Christensen, James Hays
We propose a Convolutional Neural Network (CNN) based algorithm - StuffNet - for object detection. In addition to the standard convolutional features trained for region proposal an…
Toward a Science of Autonomy for Physical Systems: Service
Peter Allen, Henrik I. Christensen
A recent study by the Robotic Industries Association has highlighted how service robots are increasingly broadening our horizons beyond the factory floor. From robotic vacuums, bom…
Next Generation Robotics
Henrik I Christensen, Allison Okamura, Maja Mataric +3
The National Robotics Initiative (NRI) was launched 2011 and is about to celebrate its 5 year anniversary. In parallel with the NRI, the robotics community, with support from the C…
Grasping for a Purpose: Using Task Goals for Efficient Manipulation Planning
Ana Huaman Quispe, Heni Ben Amor, Henrik Christensen +1
In this paper we propose an approach for efficient grasp selection for manipulation tasks of unknown objects. Even for simple tasks such as pick-and-place, a unique solution is rar…
Multi-modal Tracking for Object based SLAM
Prateek Singhal, Ruffin White, Henrik Christensen
We present an on-line 3D visual object tracking framework for monocular cameras by incorporating spatial knowledge and uncertainty from semantic mapping along with high frequency m…
Predicting Daily Activities From Egocentric Images Using Deep Learning
Daniel Castro, Steven Hickson, Vinay Bettadapura +4
We present a method to analyze images taken from a passive egocentric wearable camera along with the contextual information, such as time and day of week, to learn and predict ever…
Occlusion-Aware Object Localization, Segmentation and Pose Estimation
Samarth Brahmbhatt, Heni Ben Amor, Henrik Christensen
We present a learning approach for localization and segmentation of objects in an image in a manner that is robust to partial occlusion. Our algorithm produces a bounding box aroun…
Anisotropic Agglomerative Adaptive Mean-Shift
Rahul Sawhney, Henrik I. Christensen, Gary R. Bradski
Mean Shift today, is widely used for mode detection and clustering. The technique though, is challenged in practice due to assumptions of isotropicity and homoscedasticity. We pres…
GASP : Geometric Association with Surface Patches
Rahul Sawhney, Fuxin Li, Henrik I. Christensen
A fundamental challenge to sensory processing tasks in perception and robotics is the problem of obtaining data associations across views. We present a robust solution for ascertai…