ACRA 2009

Australasian Conference on Robotics and Automation 2009

Steve Scheding (editor)

December 2 – 4, 2009
Sydney, Australia
ISBN 978-0-9807404-0-0

All full papers submitted to ACRA 2009 will undergo a peer-review process. Each manuscript will be reviewed by at least two reviewers who will give detailed comments. If the submission is accepted, the authors will submit a revised (“camera-ready”) version that takes into account this feedback. The review process is managed by the program chair of the conference.

All papers are reviewed using a single-blind review process: authors declare their names and affiliations in the manuscript for the reviewers to see, but reviewers do not know each other’s identities, nor do the authors receive information about who has reviewed their manuscript.

Welcome to ACRA 2009

ACRA, the Australasian Conference on Robotics and Automation, is the annual conference for the Australian Robotics and Automation Association, and Australia and New Zealand’s leading forum for work in all areas of robotics and automation. ACRA attracts researchers and practitioners from around Australia and New Zealand, and an increasing number of roboticists from overseas. The work presented at ACRA 2009 is highly relevant to current interests in international robotics research. ACRA has an Australasian robotics flavour, with an emphasis on field robotics, autonomous systems, and applications in the primary industries that continue to form the basis of the Australian and New Zealand economies in the 21st century.

We have endeavoured to ensure a balanced programme: maintaining a high standard of quality, while being inclusive of the up and coming students and junior researchers in the Australasian robotics community. The Programme Committee accepted 48 full papers for presentation and publication after a review process in which full manuscripts were reviewed by at least two committee members. The accepted papers were drawn from 66 papers submitted in total. In keeping with recent trends, the primary medium for the proceedings is CD-ROM, and we will be maintaining the proceedings online at the ARAA website:www.araa.asn.au. In addition to the technical paper programme, the programme includes the Annual General Meeting for the ARAA, and plenty of social opportunities for Australasian and international robotics researchers to network and develop cross-institutional links.

We hope you enjoy your time at the conference and that you come away knowing a little bit more, having met and discussed robotics issues with a colleague, having attended a paper session, or having had a quiet technical debate over dinner. To all, we warmly welcome you to ACRA 2009, and to Sydney.

Steve Scheding – ACRA General Chair
Sildomar Takahashi Monteiro & Thierry Peynot – ACRA Paper Chairs
Sydney, December 2009

on behalf of the Programme Committee.

Organisation

Sponsoring Organisations

Australian Robotics and Automation Association Inc.
ARC Centre of Excellence for Autonomous Systems (CAS)
Australian Centre for Field Robotics (ACFR)
Rio Tinto Centre for Mine Automation (RTCMA)

Chair

Steve Scheding
The University of Sydney

Paper Chairs

Sildomar Takahashi Monteiro
The University of SydneyThierry Peynot
The University of Sydney

Programme Committee

Ali Bab-Hadiashar
Swinburne University
Nick Barnes
National ICT Austalia
John Billingsly
University of Southern Queensland
Mike Bosse
CSIRO
XiaoQi Chen
University of Canterbury
Gamini Dissanayake
University of Technology Sydney
Matthew Dunbabin
CSIRO
Roy Featherstone
Australian National University
Matthew Garratt
Australian Defence Force Academy
Jonghyuk Kim
Australian National University
Lindsey Kleeman
Monash University
Sarath Kodagoda
University of Technology Sydney
Dikai Liu
University of Technology Sydney
Tien-Fu Lu
University of Adelaide
Bruce MacDonald
University of Auckland
Robert Mahony
Australian National University
Karol Miller
University of Western Australia
Reza Moheimani
University of Newcastle
Eduardo Nebot
University of Sydney
Maurice Pagnucco
University of New South Wales
Himanshu Pota
Australian Defence Force Academy
Jonathan Roberts
CSIRO
Andrew Russell
Monash University
Claude Sammut
University of New South Wales
Bijan Shirinzadeh
Monash University
David Stirling
University of Wollongong
Karl Stol
University of Auckland
Salah Sukkarieh
University of Sydney
James Trevelyan
University of Western Australia
Ljubo Vlacic
Griffith University
Rodney Walker
Queensland University of Technology
Wenhui Wang
University of Canterbury
Stefan Williams
University of Sydney
Gordon Wyeth
University of Queensland
Peter Xu
Massey University

Table of Contents

sity of wollongong), David Stirling (University of wollongong), Fazel Naghdy (University of wollongong)
Efficient Learning of Motion Patterns for Robots
Stephan Sehestedt (ARC Centre of Excellence for Autonomous Systems), Sarath Kodagoda (ARC Centre of Excellence for Autonomous Systems), Alen Alempijevic (ARC Centre of Excellence for Autonomous Systems), Gamini Dissanayake (ARC Centre of Excellence for Autonomous Systems)
Spectral Feature Selection for Automated Rock Recognition using Gaussian Process Classification
Hang Zhou (Australian Centre for Field Robotics, The University of Sydney), Sildomar T. Monteiro (Australian Centre for Field Robotics, The University of Sydney), Peter Hatherly (Australian Centre for Field Robotics, The University of Sydney), Fabio Ramos (Australian Centre for Field Robotics, The University of Sydney), Eric Nettleton (Australian Centre for Field Robotics, The University of Sydney), Florian Oppolzer (Australian Centre for Field Robotics, The University of Sydney)
Evaluation of Gaussian Processes for Large Scale Terrain Modeling
Shrihari Vasudevan (ACFR, University of Sydney), Fabio Ramos (ACFR, University of Sydney), Eric Nettleton (ACFR, University of Sydney), Hugh Durrant-Whyte (ACFR, University of Sydney)
Modelling Affordances for the Control and Evaluation of Intrinsically Motivated Robots
Kathryn Merrick (University of New South Wales, Australian Defence Force Academy), Thomas Scully (University of New South Wales, Australian Defence Force Academy)

MANIPULATORS

Characterisation of the Novint Falcon Haptic Device for Application as a Robot Manipulator
Steven Martin (Queensland University of Technology), Nick Hillier (CSIRO)
Vision Strategies for Robotic Manipulation of Natural Objects
Chee Kit Wong (Industrial Research Limited), Patrick P.K. Lim (Industrial Research Limited), Roger Clist (Industrial Research Limited), Raymond ShuHe Liu (Industrial Research Limited)
Novel 3-DOF Reconfigurable Spherical Motion Generator with Unlimited Workspace
Shiu Hang Ip (Monash University), Chao Chen (Monash University), Denny Oetomo (The University of Melbourne)

COMPUTER VISION II

Assessment of Off-road Traversability using Linear Discriminant Analysis in Dense Disparity Space
Sameera Kodagoda (National University of Singapore), Guo Dong (Defence Science Organisation (DSO) National Laboratories), Yan Chye Hwang (Defence Science Organisation (DSO) National Laboratories), Ong Sim Heng (National University of Singapore)
Feasibility of UAV Based Optical Tracker for Tracking Australian Plague Locust
Nazifa Tahir (ACFR University of Sydney), Graham Brooker (ACFR University of Sydney)
A Vision Based Target Detection System for Docking of an Autonomous Underwater Vehicle
Frederic Maire (School of IT, QUT), David Prasser (CSIRO ICT Centre), Matthew Dunbabin (CSIRO ICT Centre), Megan Dawson (Faculty of BEE, QUT)
FPGA Based Real-time Color Discrimination Design for Ubiquitous Robots
Ying-Hao Yu (University of Technology,Sydney), Ngai M Kwok (The University of New South Wales), Quang Ha (University of Technology,Sydney)

COMMUNICATIONS & SOFTWARE SYSTEMS

Towards A Parallel Wireless Radio Communication Architecture for Modular Robots
Victor Kuo (Australian Centre for Field Robotics), Robert Fitch (Australian Centre for Field Robotics)
Realtime Debugging for Robotics Software
Luke F. Gumbley (The University of Auckland), Bruce A. MacDonald (The University of Auckland)
A Hardware-in-the-Loop Simulator for Distributed Robotics
Ritesh Lal (ACFR), Robert C Fitch (ACFR)
Quantitative information in sematectonic stigmergy for swarm robots
Tuan Phan (Monash University), Andy Russell (Monash University)

CONTROL

The Development of a Mechatronic Control System for Modular Reconfigurable Machine Tools
Jared Padayachee (University of KwaZulu-Natal), Glen Bright (University of KwaZulu-Natal), Louwrens J Butler (University of KwaZulu-Natal)
Trajectory Based Autonomous Vehicle Following using a Robotic Driver
Martin D Spencer (The University of Auckland), Daniel R Jones (The University of Auckland), Martin Kraehling (Hamburg University of Technology), Karl A Stol (The University of Auckland)
A Study of Soft Contact Models in Simulink
Pouyan Taghipour Bibalan (Australian National University), Roy Featherstone (Australian National University)
Balance Control of a Simulated Inverted Pendulum on a Circular Base
Lukasz Wiklendt (The University of Newcastle, Australia), Stephan Chalup (The University of Newcastle, Australia)
Movie1 Movie2

HUMAN MACHINE INTERFACES & BIOMIMETICS

Automatic Calibration of a Spiking Head-Direction Network for Representing Robot Orientation
Peter Stratton (Queensland Brain Institute, The University of Queensland), Michael J Milford (Queensland Brain Institute, The University of Queensland), Janet Wiles (School of Information Technology and Electrical Engineering, The University of Queensland), Gordon F Wyeth (School of Information Technology and Electrical Engineering, The University of Queensland)
Improved EIT drive patterns for a robotics sensitive skin
David Silvera Tawil (Australian Centre for Field Robotics), David Rye (Australian Centre for Field Robotics), Mari Velonaki (Australian Centre for Field Robotics)
Expressive speech for a virtual talking head
Xingyan Li (University of Auckland), Catherine I Watson (University of Auckland), Aleksandar Igic (University of Auckland), Bruce A MacDonald (University of Auckland)
Texture Recognition by Tactile Sensing
Nawid Jamali (UNSW), Philip Byrnes-Preston (UNSW), Rudino Salleh (UNSW), Claude Sammut (UNSW)

SENSING

On the development of a hyperspectral library for autonomous mining systems
Sven Schneider (University of Sydney), Richard J. Murphy (University of Sydney), Sildomar T. Monteiro (University of Sydney), Eric Nettleton (University of Sydney)
Towards Discrimination of Challenging Conditions for UGVs with Visual and Infrared Sensors
Christopher Brunner (ACFR, The University of Sydney), Thierry Peynot (ACFR, The University of Sydney), James Underwood (ACFR, The University of Sydney)
TASTI 2 Searches for Chemicals in the Presence of Obstacles
R. Andrew Russell (Monash University)

SYSTEMS

An Inspection and Surveying System For Vertical Shafts
Jared Le Cras (Curtin University), Jonathan Paxman (Curtin University), Brad Saracik (Curtin University), Andrew Jarosz (Curtin University)
Semi-Autonomous Robots for RoboCupRescue
Raymond K Sheh (UNSW), Adam H Milstein (UNSW), Matthew J McGill (UNSW), Rudino Salleh (UNSW), Bernhard Hengst (UNSW), Claude Sammut (UNSW)
An Autonomous Surface Vehicle for Water Quality Monitoring
Matthew Dunbabin (CSIRO), Alistair Grinham (University of Queensland), James Udy (Seqwater)
Automated Variable Resistance System for Upper Limb Rehabilitation
anda M Peattie (University of Canterbury), Agnetha Korevaar (University of Canterbury), Joshua P Wilson (University of Canterbury), Brad Sandilands (University of Canterbury), XiaoQi Chen (University of Canterbury), Marcus King (IRL)
Improving Augmented Reality Visualisation for Mobile Robot Development
Daniel Brooker (Inro Technologies Ltd.), Toby Collett (Inro Technologies Ltd.), Andrew Evan Graham (Inro Technolgoies Ltd.)

Index of Authors

Author Papers
Alempijevic, Alen
Efficient Learning of Motion Patterns for Robots
Bosse, Michael
Automatic Segmentation of 3D Laser Point Clouds by Ellipsoidal Region Growing
Bright, Glen
The Development of a Mechatronic Control System for Modular Reconfigurable Machine Tools
Brooker, Daniel
Improving Augmented Reality Visualisation for Mobile Robot Development
Brooker, Graham
Feasibility of UAV Based Optical Tracker for Tracking Australian Plague Locust
Brunner, Christopher
Towards Discrimination of Challenging Conditions for UGVs with Visual and Infrared Sensors
Butler, Louwrens
The Development of a Mechatronic Control System for Modular Reconfigurable Machine Tools
Byrnes-Preston, Philip
Texture Recognition by Tactile Sensing
Chakravarty, Punarjay
External Cameras & A Mobile Robot: A Collaborative Surveillance System
Chalup, Stephan
Balance Control of a Simulated Inverted Pendulum on a Circular Base
Chen, Chao
Novel 3-DOF Reconfigurable Spherical Motion Generator with Unlimited Workspace
Chen, XiaoQi
Automated Variable Resistance System for Upper Limb Rehabilitation
Cheung, Allen
Obstacle Avoidance in Cluttered Environments using Optic Flow
Clist, Roger
Vision Strategies for Robotic Manipulation of Natural Objects
Collett, Toby
Improving Augmented Reality Visualisation for Mobile Robot Development
Dawson, Megan
A Vision Based Target Detection System for Docking of an Autonomous Underwater Vehicle
Dissanayake, Gamini
Efficient Learning of Motion Patterns for Robots , 3D Landmarks Extraction from a Range Imager Data for SLAM , A new observation model for B-Spline SLAM
Dong, Guo
Assessment of Off-road Traversability using Linear Discriminant Analysis in Dense Disparity Space
Dunbabin, Matthew
A Vision Based Target Detection System for Docking of an Autonomous Underwater Vehicle , An Autonomous Surface Vehicle for Water Quality Monitoring
Durrant-Whyte, Hugh
Evaluation of Gaussian Processes for Large Scale Terrain Modeling
Featherstone, Roy
A Study of Soft Contact Models in Simulink
Fitch, Robert
Towards A Parallel Wireless Radio Communication Architecture for Modular Robots , A Hardware-in-the-Loop Simulator for Distributed Robotics
Gan, Seng Keat
3D Path Planning for a Rotary Wing UAV using a Gaussian Process Occupancy Map
Garratt, Matthew
FPGA Implementation of an Optic Flow Sensor using the Image Interpolation Algorithm , Obstacle Avoidance in Cluttered Environments using Optic Flow
Glover, Arren
Augmenting RatSLAM using FAB-MAP-based Visual Data Association
Gonzalez, Luis Felipe
Optimal Mission Path Planning (MPP) For An Air Sampling Unmanned Aerial System
Graham, Andrew Evan
Improving Augmented Reality Visualisation for Mobile Robot Development
Grinham, Alistair
An Autonomous Surface Vehicle for Water Quality Monitoring
Guillemette, Thomas
FPGA Implementation of an Optic Flow Sensor using the Image Interpolation Algorithm
Gumbley, Luke
Realtime Debugging for Robotics Software
Ha, Quang
FPGA Based Real-time Color Discrimination Design for Ubiquitous Robots
Hatherly, Peter
Spectral Feature Selection for Automated Rock Recognition using Gaussian Process Classification
Heng, Ong Sim
Assessment of Off-road Traversability using Linear Discriminant Analysis in Dense Disparity Space
Hengst, Bernhard
Semi-Autonomous Robots for RoboCupRescue
Hernandez-Gutierrez, Andres
Large scale visual odometry using stereo vision
Hillier, Nick
Characterisation of the Novint Falcon Haptic Device for Application as a Robot Manipulator
Hu, Gibson
3D Landmarks Extraction from a Range Imager Data for SLAM
Huang, Shoudong
3D Landmarks Extraction from a Range Imager Data for SLAM , A new observation model for B-Spline SLAM
Hwang, Yan Chye
Assessment of Off-road Traversability using Linear Discriminant Analysis in Dense Disparity Space
Igic, Aleksandar
Expressive speech for a virtual talking head
Ip, Shiu Hang
Novel 3-DOF Reconfigurable Spherical Motion Generator with Unlimited Workspace
Jamali, Nawid
Texture Recognition by Tactile Sensing
Jarosz, Andrew
An Inspection and Surveying System For Vertical Shafts
Jarvis, Ray
Real time Hand Gesture Recognition using a Range Camera , External Cameras & A Mobile Robot: A Collaborative Surveillance System
Jones, Daniel
Trajectory Based Autonomous Vehicle Following using a Robotic Driver
King, Marcus
Automated Variable Resistance System for Upper Limb Rehabilitation
Kodagoda, Sameera
Assessment of Off-road Traversability using Linear Discriminant Analysis in Dense Disparity Space
Kodagoda, Sarath
Efficient Learning of Motion Patterns for Robots
Korevaar, Agnetha
Automated Variable Resistance System for Upper Limb Rehabilitation
Kozlov, Alex
Covariance Visualisations for Simultaneous Localisation and Mapping
Kraehling, Martin
Trajectory Based Autonomous Vehicle Following using a Robotic Driver
Kuo, Victor
Towards A Parallel Wireless Radio Communication Architecture for Modular Robots
Kwok, Ngai
FPGA Based Real-time Color Discrimination Design for Ubiquitous Robots
Lal, Ritesh
A Hardware-in-the-Loop Simulator for Distributed Robotics
Lambert, Andrew
FPGA Implementation of an Optic Flow Sensor using the Image Interpolation Algorithm
Le Cras, Jared
An Inspection and Surveying System For Vertical Shafts
Lee, DongSeop
Optimal Mission Path Planning (MPP) For An Air Sampling Unmanned Aerial System
Li, Xingyan
Expressive speech for a virtual talking head
Li, Zhi
Real time Hand Gesture Recognition using a Range Camera
Lim, Patrick
Vision Strategies for Robotic Manipulation of Natural Objects
Liu, Minjie
A new observation model for B-Spline SLAM
Liu, Raymond ShuHe
Vision Strategies for Robotic Manipulation of Natural Objects
Liu, Yiwei
Q-Learning for Navigation Control of an Autonomous Blimp
Lu, Tien-Fu
Multiple Waypoints Trajectory Planning with Specific Position, Orientation,Velocity and Time using Geometric Approach for A Car-like Robot
MacDonald, Bruce
Covariance Visualisations for Simultaneous Localisation and Mapping ,Expressive speech for a virtual talking head , Realtime Debugging for Robotics Software
Maddern, William
Augmenting RatSLAM using FAB-MAP-based Visual Data Association
Maire, Frederic
A Vision Based Target Detection System for Docking of an Autonomous Underwater Vehicle
Martin, Steven
Characterisation of the Novint Falcon Haptic Device for Application as a Robot Manipulator
McGill, Matthew
Semi-Autonomous Robots for RoboCupRescue
Melkumyan, Narek
Online Density Reduction Algorithm for Non-homogenous Multidimensional Datasets with Sequential Input
Merrick, Kathryn
Modelling Affordances for the Control and Evaluation of Intrinsically Motivated Robots
Milford, Michael
Automatic Calibration of a Spiking Head-Direction Network for Representing Robot Orientation , Augmenting RatSLAM using FAB-MAP-based Visual Data Association
Milstein, Adam
Semi-Autonomous Robots for RoboCupRescue
Mohamad Hashim, Mohd Sani
Multiple Waypoints Trajectory Planning with Specific Position, Orientation,Velocity and Time using Geometric Approach for A Car-like Robot
Monteiro, Sildomar
Spectral Feature Selection for Automated Rock Recognition using Gaussian Process Classification , On the development of a hyperspectral library for autonomous mining systems
Murphy, Richard
On the development of a hyperspectral library for autonomous mining systems
Naghdy, Fazel
Q-Learning for Navigation Control of an Autonomous Blimp
Nebot, Eduardo
Large scale visual odometry using stereo vision , Online Density Reduction Algorithm for Non-homogenous Multidimensional Datasets with Sequential Input
Nettleton, Eric
Online Density Reduction Algorithm for Non-homogenous Multidimensional Datasets with Sequential Input , Evaluation of Gaussian Processes for Large Scale Terrain Modeling , Spectral Feature Selection for Automated Rock Recognition using Gaussian Process Classification , On the development of a hyperspectral library for autonomous mining systems
Nieto, Juan
Large scale visual odometry using stereo vision
Oetomo, Denny
Novel 3-DOF Reconfigurable Spherical Motion Generator with Unlimited Workspace
Oppolzer, Florian
Spectral Feature Selection for Automated Rock Recognition using Gaussian Process Classification
Padayachee, Jared
The Development of a Mechatronic Control System for Modular Reconfigurable Machine Tools
Pan, Zengxi
Q-Learning for Navigation Control of an Autonomous Blimp
Pauling, Frederick
Automatic Segmentation of 3D Laser Point Clouds by Ellipsoidal Region Growing
Paxman, Jonathan
An Inspection and Surveying System For Vertical Shafts
Peattie, Amanda
Automated Variable Resistance System for Upper Limb Rehabilitation
Periaux, Jacques
Optimal Mission Path Planning (MPP) For An Air Sampling Unmanned Aerial System
Peynot, Thierry
Towards Discrimination of Challenging Conditions for UGVs with Visual and Infrared Sensors
Phan, Tuan
Quantitative information in sematectonic stigmergy for swarm robots
Posch, Andre
UAV based search for a radio tagged animal using particle filters
Prasser, David
A Vision Based Target Detection System for Docking of an Autonomous Underwater Vehicle
Ramos, Fabio
Evaluation of Gaussian Processes for Large Scale Terrain Modeling ,Spectral Feature Selection for Automated Rock Recognition using Gaussian Process Classification
Rao, Dushyant
Large Scale Path Planning for an Underwater Glider in Ocean Currents
Russell, Andrew
Quantitative information in sematectonic stigmergy for swarm robots ,TASTI 2 Searches for Chemicals in the Presence of Obstacles
Rye, David
Improved EIT drive patterns for a robotics sensitive skin
Salleh, Rudino
Semi-Autonomous Robots for RoboCupRescue , Texture Recognition by Tactile Sensing
Sammut, Claude
Semi-Autonomous Robots for RoboCupRescue , Texture Recognition by Tactile Sensing
Sandilands, Brad
Automated Variable Resistance System for Upper Limb Rehabilitation
Saracik, Brad
An Inspection and Surveying System For Vertical Shafts
Schneider, Sven
On the development of a hyperspectral library for autonomous mining systems
Scully, Thomas
Modelling Affordances for the Control and Evaluation of Intrinsically Motivated Robots
Sehestedt, Stephan
Efficient Learning of Motion Patterns for Robots
Sheh, Raymond
Semi-Autonomous Robots for RoboCupRescue
Silvera Tawil, David
Improved EIT drive patterns for a robotics sensitive skin
Spencer, Martin
Trajectory Based Autonomous Vehicle Following using a Robotic Driver
Stirling, David
Q-Learning for Navigation Control of an Autonomous Blimp
Stol, Karl
Trajectory Based Autonomous Vehicle Following using a Robotic Driver
Stratton, Peter
Automatic Calibration of a Spiking Head-Direction Network for Representing Robot Orientation
Sukkarieh, Salah
3D Path Planning for a Rotary Wing UAV using a Gaussian Process Occupancy Map , UAV based search for a radio tagged animal using particle filters
Taghipour Bibalan, Pouyan
A Study of Soft Contact Models in Simulink
Tahir, Nazifa
Feasibility of UAV Based Optical Tracker for Tracking Australian Plague Locust
Udy, James
An Autonomous Surface Vehicle for Water Quality Monitoring
Underwood, James
Towards Discrimination of Challenging Conditions for UGVs with Visual and Infrared Sensors
Vasudevan, Shrihari
Evaluation of Gaussian Processes for Large Scale Terrain Modeling
Velonaki, Mari
Improved EIT drive patterns for a robotics sensitive skin
Vidal-Calleja, Teresa
Large scale visual odometry using stereo vision
Walker, Rodney
Optimal Mission Path Planning (MPP) For An Air Sampling Unmanned Aerial System
Wang, Jianguo Jack
3D Landmarks Extraction from a Range Imager Data for SLAM
Watson, Catherine
Expressive speech for a virtual talking head
Wiklendt, Lukasz
Balance Control of a Simulated Inverted Pendulum on a Circular Base
Wiles, Janet
Automatic Calibration of a Spiking Head-Direction Network for Representing Robot Orientation
Williams, Stefan
Large Scale Path Planning for an Underwater Glider in Ocean Currents
Wilson, Joshua
Automated Variable Resistance System for Upper Limb Rehabilitation
Wong, Chee Kit
Vision Strategies for Robotic Manipulation of Natural Objects
Wunsche, Burkhard
Covariance Visualisations for Simultaneous Localisation and Mapping
Wyeth, Gordon
Automatic Calibration of a Spiking Head-Direction Network for Representing Robot Orientation , Augmenting RatSLAM using FAB-MAP-based Visual Data Association
Yang, Kwangjin
3D Path Planning for a Rotary Wing UAV using a Gaussian Process Occupancy Map
Yu, Ying-Hao
FPGA Based Real-time Color Discrimination Design for Ubiquitous Robots
Zhou, Hang
Spectral Feature Selection for Automated Rock Recognition using Gaussian Process Classification
Zlot, Robert
Automatic Segmentation of 3D Laser Point Clouds by Ellipsoidal Region Growing