On Entropy Approximation for Gaussian Mixture Random Vectors (2009)
Marco F. Huber, Tim Bailey, Hugh Durrant-whyte, Uwe D. Hanebeck
Abstract — For many practical probability density representations such as for the widely used Gaussian mixture densities, an analytic evaluation of the differential entropy is not possible and...
Abstract A Micro Aerial Vehicle Motion Capture System (2009)
Christel-loic Tisse, Thomas Fauvel, Hugh Durrant-whyte
In this paper, we report on the design of a 6 Degrees-Of-Freedom (6-DOF) motion tracking system for a Micro-Aerial-Vehicle (MAV) using stereo-vision. The pose measurement is performed by tracking the...
Non-Gaussian State Estimation in an Outdoor Decentralised Sensor Network (2008)
Ben Upcroft, Matthew Ridley, Lee-ling Ong, Suresh Kumar, Tim Bailey, Fabio Ramos, ...
Abstract — This paper presents the development and demonstration of non-Gaussian, decentralised state estimation using an outdoor sensor network consisting of an autonomous air vehicle, a manual...
ARC Centre of Excellence for Autonomous Systems (2008)
X. Rosalind Wang, Suresh Kumar, Ben Upcroft, Hugh Durrant-whyte
In this paper, we present the application of a non-linear dimensionality reduction technique for the learning and probabilistic classification of hyperspectral image. Hyperspectral image spectroscopy...
Chieh-chih Wang, Charles Thorpe, Sebastian Thrun, Martial Hebert, Hugh Durrant-whyte, Chieh-chih Wang, ...
Citations (this article cites 18 articles hosted on the
Fast Re-parameterisation of Gaussian Mixture Models for Robotics Applications (2008)
Ben Upcroft, Suresh Kumar, Matthew Ridley, Lee Ling Ong, Hugh Durrant-whyte
Autonomous navigation and picture compilation tasks require robust feature descriptions or models. Given the non-Gaussian nature of sensor observations, it will be shown that Gaussian mixture models...
Camera calibration for miniature, low-cost, wide-angle imaging systems ∗ (2008)
Oliver Frank, Roman Katz, Christel-loic Tisse, Hugh Durrant-whyte
This paper presents a new model and an extension to an existing algorithm for camera calibration. The main goal of the proposed approach is to calibrate miniature, low-cost, wide-angle fisheye...
Measuring Global Behaviour of Multi-Agent Systems from Pair-Wise Mutual Information (2008)
George Mathews, Hugh Durrant-whyte, Mikhail Prokopenko
Abstract. In this paper we present a method for finding general dependencies between individual agents in a multi-agent system. We use mutual information as the general measure for dependence and...
Salah Sukkarieh, Eric Nettleton, Jong-hyuk Kim, Matthew Ridley, Ali Goktogan, Hugh Durrant-whyte, ...
The objective of the autonomous navigation and sensing experiment research (ANSER) project is to demonstrate decentralized data fusion (DDF) and simultaneous localization and map building (SLAM)...
Stefan B. Williams, Hugh Durrant-whyte, Gamini Dissanayake, Stefan B. Williams, Gamini Dissanayake
In this paper we present a novel feature initialization technique for the Simultaneous Localization and Mapping (SLAM) algorithm. The initialization scheme extends previous approaches for identifying...
Sebastian Thrun, Yufeng Liu, Daphne Koller, Andrew Y. Ng, Zoubin Ghahramani, Hugh Durrant-whyte, ...
Citations (this article cites 9 articles hosted on the
Map Management for Efficient Simultaneous Localization (2007)
Gamini Dissanayake, Stefan B. Williams, Hugh Durrant-whyte, Tim Bailey
Abstract. The solution to the simultaneous localization and map building (SLAM) problem where an autonomous vehicle starts in an unknown location in an unknown environment and then incrementally...
FIELD DEPLOYMENT OF THE SIMULTANEOUS LOCALISATION AND MAPPING ALGORITHM (2007)
Abstract: Autonomous localisation and mapping requires a vehicle to start in an unknown location in an unknown environment and then to incrementally build a map of landmarks present in this...
Zoubin Ghahmarani, Hugh Durrant-whyte
This paper describes a scalable algorithm for the simultaneous mapping and localization (SLAM) problem. SLAM is the problem of determining the location of environmental features with a roving robot....
Scalable human-robot interactions in active sensor networks (2007)
Alexei Makarenko, Ben Grocholsky, Hugh Durrant-whyte
This paper considers the modes of interaction between one or several human operators and an active sensor network – a fully decentralized network of sensors some or all of which have actuators and...
Thrun, Sebastian, Koller, Daphne, Ghahramani, Zoubin, Durrant-Whyte, Hugh, Ng, Andrew Y.
This paper describes a scalable algorithm for the simultaneous localization and mapping (SLAM) problem. SLAM is the problem of determining the location of environmental features with a roving robot....
Thrun, Sebastian, Koller, Daphne, Ghahramani, Zoubin, Durrant-Whyte, Hugh
This paper describes a scalable algorithm for the simultaneous localization and mapping (SLAM) problem. SLAM is the problem of determining the location of environmental features with a roving robot....
Hugh Durrant-whyte, Tim Bailey
Abstract — This tutorial provides an introduction to Simultaneous Localisation and Mapping (SLAM) and the extensive research on SLAM that has been undertaken over the past decade. SLAM is the...
Implementation of an indoor active sensor network (2004)
Alex Brooks, Alexei Makarenko, Stefan Williams, Hugh Durrant-whyte
Abstract. This paper describes an indoor Active Sensor Network, focussing on the implementation aspects of the system, including communication and the application framework. To make the system...
A Decentralized Architecture for Active Sensor Networks (2004)
Alexei Makarenko, Alex Brooks, Stefan Williams, Hugh Durrant-whyte
The paper presents a decentralized approach to the solution of the distributed information gathering problem. The main design objectives are scalability with the number of network components, maximum...
Anonymous Cooperation in Robotic Sensor Networks (2004)
Ben Grocholsky, Vijay Kumar, Hugh Durrant-Whyte
Potential performance benefits motivate the application of networks of proactive robotic sensor platforms to information gathering tasks. To achieve scalable implementations of such systems, it is...
Decentralized Data Fusion and Control in Active Sensor Networks (2004)
Alexei Makarenko, Hugh Durrant-whyte
The paper presents an algorithm for Bayesian decentralized data fusion (BDDF) and its extension to informationtheoretic control. The algorithm is stated for a feature represented by a general...
A Decentralized Architecture for Active Sensor Networks (2004)
Alexei Makarenko, Alex Brooks, Stefan Williams, Hugh Durrant-whyte
The paper presents a decentralized approach to the solution of the distributed information gathering problem. The main design objectives are scalability with the number of network components, maximum...
Simultaneous localization, mapping and moving object tracking (2004)
Chieh-chih Wang, Charles Thorpe, Martial Hebert, Sebastian Thrun, Hugh Durrant-whyte
Simultaneous localization, mapping and moving object tracking (SLAMMOT) involves both simultaneous localization and mapping (SLAM) in dynamic environments and detecting and tracking these dynamic...
Towards multi-vehicle simultaneous localisation and mapping (2002)
Stefan B. Williams, Hugh Durrant-whyte
This paper presents a novel approach to the multi-vehicle Simultaneous Localisation and Mapping (SLAM) problem that exploits the manner in which observations are fused into the global map of the...
An efficient approach to the simultaneous localisation and mapping problem (2002)
Stefan B. Williams, Hugh Durrant-whyte
This paper presents a novel approach to the Simultaneous Localisation and Mapping (SLAM) algorithm that exploits the manner in which observations are fused into the global map of the environment to...
et.al “A behavior-based architecture for autonomous underwater exploration” Intnl (2002)
Julio Rosenblatt, Stefan Williams, Hugh Durrant-whyte
We present a system for behavior-based control of an autonomous underwater vehicle for the purpose of inspection of coral reefs, a task currently performed by divers holding a video camera while...
Simultaneous mapping and localization with sparse extended information filters (2002)
Sebastian Thrun, Daphne Koller, Zoubin Ghahramani, Hugh Durrant-whyte, Andrew Y. Ng
Abstract. This paper describes a scalable algorithm for the simultaneous mapping and localization (SLAM) problem. SLAM is the problem of determining the location of environmental features with a...
Natural Landmark-based Autonomous Navigation using Curvature Scale Space (2002)
Raj Madhavan, Hugh Durrant-whyte, Gamini Dissanayake
Abstract — This paper describes a terrain-aided navigation system that employs points of maximum curvature extracted from laser scan data as primary landmarks. A scale space method is used to...
Simultaneous mapping and localization with sparse extended information filters (2002)
Sebastian Thrun, Daphne Koller, Zoubin Ghahramani, Hugh Durrant-whyte, Andrew Y. Ng
Abstract. This paper describes a scalable algorithm for the simultaneous mapping and localization (SLAM) problem. SLAM is the problem of determining the location of environmental features with a...
Constrained initialisation of the simultaneous localisation and mapping algorithm (2001)
Stefan B. Williams, Gamini Dissanayake, Hugh Durrant-whyte
This paper presents a novel feature initialisation technique for the Simultaneous Localisation and Mapping (SLAM) algorithm. The initialisation scheme extends previous approaches for identifying new...
Constrained initialisation of the simultaneous localisation and mapping algorithm (2001)
Stefan Williams, Gamini Dissanayake, Hugh Durrant-whyte
Abstract: This paper presents a novel strategy for feature track initialisation in the Simultaneous Localisation and Mapping (SLAM) algorithm. Spurious observations and ambiguity in the data...
Chuck Thorpe, Hugh Durrant-whyte
Field Robots are machines that work in unstructured environments, including under water, in mines, in forests and on farms, and in the air. These applications involve both advanced ideas in robotics...
Chuck Thorpe, Hugh Durrant-whyte
Field Robots are machines that work in unstructured environments, including under water, in mines, in forests and on farms, and in the air. These applications involve both advanced ideas in robotics...
This policy applies to all DoD Components (2000)
Stefan B. Williams, Paul Newman, Gamini Dissanayake, Julio Rosenblatt, Hugh Durrant-whyte
Current work on undersea vehicles at the Australian Centre for Field Robotics concentrates on the development of terrain-aided navigation techniques, sensor fusion and vehicle control architectures...
Map building and localization for underwater navigation (2000)
Somajyoti Majumder, Julio Rosenblatt, Steve Scheding, Hugh Durrant-whyte
Abstract: A framework for underwater navigation by combining raw information from different sensors into a single scene description is presented. It is shown that features extracted from such a...
Hugh Durrant-whyte, Australian Centre, Field Robotics
Version 1.0. Comments are welcome
Brown, Chris, Durrant-Whyte, Hugh, Leonard, John, Rao, Bobby, Steer, Barry
A review of some estimation basics is followed by illustrative applications of Kalman filters for stationary and maneuvering targets. The variable dimension of Kalman filter is used for the...
Centralized and Decentralized Kalman Filter Techniques for Tracking, Navigation, and Control (1989)
Brown, Chris, Durrant-Whyte, Hugh, Leonard, John, Rao, Bobby, Steer, Barry
A review of some estimation basics is followed by illustrative applications of Kalman filters for stationary and maneuvering targets. The variable dimension Kalman filter is used for the maneuvering...