{"382651":{"#nid":"382651","#data":{"type":"event","title":"Ph.D Defense by Alexander J. B. Trevor","body":[{"value":"\u003Cp\u003EPh.D. Dissertation Defense Announcement\u003Cbr \/\u003E\u003Cbr \/\u003ETitle:\u003Cstrong\u003E Semantic Mapping for Service Robots: Building and Using Maps for Mobile Manipulators in Semi-Structured Environments\u003C\/strong\u003E\u003Cbr \/\u003E\u003Cbr \/\u003EAlexander J. B. Trevor\u003Cbr \/\u003ERobotics Ph.D. Candidate\u003Cbr \/\u003ESchool of Interactive Computing\u003Cbr \/\u003EGeorgia Institute of Technology\u003Cbr \/\u003E\u003Cbr \/\u003EDate: Friday, March 13th, 2015\u003Cbr \/\u003ETime: 11:00am -1:00pm EST\u003Cbr \/\u003ELocation: Marcus Nanotechnology Bldg., Room 1117-1118\u003Cbr \/\u003E\u003Cbr \/\u003E\u003Cstrong\u003ECommittee:\u003C\/strong\u003E\u003Cbr \/\u003EDr. Henrik Christensen (Advisor), School of Interactive Computing, Georgia Tech\u003Cbr \/\u003EDr. Frank Dellaert, School of Interactive Computing, Georgia Tech\u003Cbr \/\u003EDr. Ayanna Howard, School of Electrical and Computer Engineering, Georgia Tech\u003Cbr \/\u003EDr. James Rehg, School of Interactive Computing, Georgia Tech\u003Cbr \/\u003EDr. Dieter Fox, Computer Science \u0026amp; Engineering, University of Washington\u003Cbr \/\u003E\u003Cbr \/\u003E\u003Cstrong\u003EAbstract:\u003C\/strong\u003E\u003Cbr \/\u003EAlthough much progress has been made in the field of robotic mapping, many challenges remain including: efficient semantic segmentation using RGB-D sensors, map representations that include complex features (structures and objects), and interfaces for interactive annotation of maps.\u003Cbr \/\u003E\u003Cbr \/\u003EThis thesis addresses how prior knowledge of semi-structured human environments can be leveraged to improve segmentation, mapping, and semantic annotation of maps. \u0026nbsp;We present an organized connected component approach for segmenting RGB-D data into planes and clusters. \u0026nbsp;These segments serve as input to our mapping approach that utilizes them as planar landmarks and object landmarks for Simultaneous Localization and Mapping (SLAM), providing necessary information for service robot tasks and improving data association and loop closure. \u0026nbsp;These features are meaningful to humans, enabling annotation of mapped features to establish common ground and simplifying tasking. \u0026nbsp;A modular, open-source software framework, the OmniMapper, is also presented that allows a number of different sensors and features to be combined to generate a combined map representation, and enables easy addition of new feature types.\u003C\/p\u003E","summary":null,"format":"limited_html"}],"field_subtitle":"","field_summary":"","field_summary_sentence":[{"value":"Semantic Mapping for Service Robots: Building and Using Maps for Mobile Manipulators in Semi-Structured Environments"}],"uid":"27707","created_gmt":"2015-02-27 11:13:17","changed_gmt":"2016-10-08 01:46:28","author":"Tatianna Richardson","boilerplate_text":"","field_publication":"","field_article_url":"","field_event_time":{"event_time_start":"2015-03-13T12:00:00-04:00","event_time_end":"2015-03-13T14:00:00-04:00","event_time_end_last":"2015-03-13T14:00:00-04:00","gmt_time_start":"2015-03-13 16:00:00","gmt_time_end":"2015-03-13 18:00:00","gmt_time_end_last":"2015-03-13 18:00:00","rrule":null,"timezone":"America\/New_York"},"extras":[],"groups":[{"id":"221981","name":"Graduate Studies"}],"categories":[],"keywords":[{"id":"1366","name":"defense"},{"id":"3366","name":"dissertation"},{"id":"1808","name":"graduate students"},{"id":"115361","name":"Ph.D"}],"core_research_areas":[],"news_room_topics":[],"event_categories":[{"id":"1788","name":"Other\/Miscellaneous"}],"invited_audience":[{"id":"78771","name":"Public"}],"affiliations":[],"classification":[],"areas_of_expertise":[],"news_and_recent_appearances":[],"phone":[],"contact":[],"email":[],"slides":[],"orientation":[],"userdata":""}}}