gjh

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About gjh

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So far gjh has created 3 blog entries.

Risky Planning: Path Planning over Costmaps with a Probabilistically Bounded Speed-Accuracy Tradeoff

Abstract— This paper is about generating plans over uncertain maps quickly. Our approach combines the ALT (A* search, landmarks and the triangle inequality) algorithm and risk heuristics to guide search over probabilistic cost maps. We build on previous work which generates probabilistic cost maps from aerial imagery and use these cost maps to precompute heuristics [...]

Risky Planning: Path Planning over Costmaps with a Probabilistically Bounded Speed-Accuracy Tradeoff 2016-10-22T19:51:02+00:00

Self Help: Seeking Out Perplexing Images for Ever Improving Navigation

Abstract—This paper is a demonstration of how a robot can, through introspection and then targeted data retrieval, improve its own performance. It is a step in the direction of lifelong learning and adaptation and is motivated by the desire to build robots that have plastic competencies which are not baked in. They should react to [...]

Self Help: Seeking Out Perplexing Images for Ever Improving Navigation 2016-10-22T19:51:02+00:00

Using Text-Spotting to Query the World

Abstract—The world we live in is labeled extensively for the benefit of humans. Yet, to date, robots have made little use of human readable text as a resource. In this paper we aim to draw attention to text as a readily available source of semantic information in robotics by implementing a system which allows robots [...]

Using Text-Spotting to Query the World 2016-10-22T19:51:02+00:00