56 citations · 228 across the 17 of their papers we have counts for
18 papers
Robot Goes Fishing: Rapid, High-Resolution Biological Hotspot Mapping in Coral Reefs with Vision-Guided Autonomous Underwater Vehicles
Daniel Yang, Levi Cai, Stewart Jamieson +1
Coral reefs are fast-changing and complex ecosystems that are crucial to monitor and study. Biological hotspot detection can help coral reef managers prioritize limited resources f…
CUREE: A Curious Underwater Robot for Ecosystem Exploration
Yogesh Girdhar, Nathan McGuire, Levi Cai +6
The current approach to exploring and monitoring complex underwater ecosystems, such as coral reefs, is to conduct surveys using diver-held or static cameras, or deploying sensor b…
DeepSeeColor: Realtime Adaptive Color Correction for Autonomous Underwater Vehicles via Deep Learning Methods
Stewart Jamieson, Jonathan P. How, Yogesh Girdhar
Successful applications of complex vision-based behaviours underwater have lagged behind progress in terrestrial and aerial domains. This is largely due to the degraded image quali…
Semi-Supervised Visual Tracking of Marine Animals using Autonomous Underwater Vehicles
Levi Cai, Nathan E. McGuire, Roger Hanlon +2
In-situ visual observations of marine organisms is crucial to developing behavioural understandings and their relations to their surrounding ecosystem. Typically, these observation…
Multi-Robot Distributed Semantic Mapping in Unfamiliar Environments through Online Matching of Learned Representations
Stewart Jamieson, Kaveh Fathian, Kasra Khosoussi +2
We present a solution to multi-robot distributed semantic mapping of novel and unfamiliar environments. Most state-of-the-art semantic mapping systems are based on supervised learn…
Seeing Through your Skin: Recognizing Objects with a Novel Visuotactile Sensor
Francois Robert Hogan, Michael Jenkin, Sahand Rezaei-Shoshtari +3
We introduce a new class of vision-based sensor and associated algorithmic processes that combine visual imaging with high-resolution tactile sending, all in a uniform hardware and…
Gaussian-Dirichlet Random Fields for Inference over High Dimensional Categorical Observations
John E. San Soucie, Heidi M. Sosik, Yogesh Girdhar
We propose a generative model for the spatio-temporal distribution of high dimensional categorical observations. These are commonly produced by robots equipped with an imaging sens…
Active Reward Learning for Co-Robotic Vision Based Exploration in Bandwidth Limited Environments
Stewart Jamieson, Jonathan P. How, Yogesh Girdhar
We present a novel POMDP problem formulation for a robot that must autonomously decide where to go to collect new and scientifically relevant images given a limited ability to comm…
Information-Guided Robotic Maximum Seek-and-Sample in Partially Observable Continuous Environments
Genevieve Flaspohler, Victoria Preston, Anna P. M. Michel +2
We present PLUMES, a planner to localizing and collecting samples at the global maximum of an a priori unknown and partially observable continuous environment. The "maximum-seek-an…
Streaming Scene Maps for Co-Robotic Exploration in Bandwidth Limited Environments
Yogesh Girdhar, Levi Cai, Stewart Jamieson +4
This paper proposes a bandwidth tunable technique for real-time probabilistic scene modeling and mapping to enable co-robotic exploration in communication constrained environments…
Learning Seasonal Phytoplankton Communities with Topic Models
Arnold Kalmbach, Heidi M. Sosik, Gregory Dudek +1
In this work we develop and demonstrate a probabilistic generative model for phytoplankton communities. The proposed model takes counts of a set of phytoplankton taxa in a timeseri…
Feature discovery and visualization of robot mission data using convolutional autoencoders and Bayesian nonparametric topic models
Genevieve Flaspohler, Nicholas Roy, Yogesh Girdhar
The gap between our ability to collect interesting data and our ability to analyze these data is growing at an unprecedented rate. Recent algorithmic attempts to fill this gap have…
Near-optimal irrevocable sample selection for periodic data streams with applications to marine robotics
Genevieve Flaspohler, Nicholas Roy, Yogesh Girdhar
We consider the task of monitoring spatiotemporal phenomena in real-time by deploying limited sampling resources at locations of interest irrevocably and without knowledge of futur…
Phytoplankton Hotspot Prediction With an Unsupervised Spatial Community Model
Arnold Kalmbach, Yogesh Girdhar, Heidi M. Sosik +1
Many interesting natural phenomena are sparsely distributed and discrete. Locating the hotspots of such sparsely distributed phenomena is often difficult because their density grad…
Modeling Curiosity in a Mobile Robot for Long-Term Autonomous Exploration and Monitoring
Yogesh Girdhar, Gregory Dudek
This paper presents a novel approach to modeling curiosity in a mobile robot, which is useful for monitoring and adaptive data collection tasks, especially in the context of long t…
Gibbs Sampling Strategies for Semantic Perception of Streaming Video Data
Yogesh Girdhar, Gregory Dudek
Topic modeling of streaming sensor data can be used for high level perception of the environment by a mobile robot. In this paper we compare various Gibbs sampling strategies for t…
Anomaly Detection in Unstructured Environments using Bayesian Nonparametric Scene Modeling
Yogesh Girdhar, Walter Cho, Matthew Campbell +3
This paper explores the use of a Bayesian non-parametric topic modeling technique for the purpose of anomaly detection in video data. We present results from two experiments. The f…
Curiosity Based Exploration for Learning Terrain Models
Yogesh Girdhar, David Whitney, Gregory Dudek
We present a robotic exploration technique in which the goal is to learn to a visual model and be able to distinguish between different terrains and other visual components in an u…