dc.contributor.advisor | Skubic, Marjorie | eng |
dc.contributor.author | Huo, Zhiyu | eng |
dc.date.issued | 2013 | eng |
dc.date.submitted | 2013 Spring | eng |
dc.description | Title from PDF of title page (University of Missouri--Columbia, viewed on September 10, 2013). | eng |
dc.description | The entire thesis text is included in the research.pdf file; the official abstract appears in the short.pdf file; a non-technical public abstract appears in the public.pdf file. | eng |
dc.description | Thesis advisor: Dr. Marjorie Skubic | eng |
dc.description | Includes bibliographical references. | eng |
dc.description | M.S. University of Missouri--Columbia 2013. | eng |
dc.description | Dissertations, Academic -- University of Missouri--Columbia -- Electrical engineering. | eng |
dc.description | "May 2013" | eng |
dc.description.abstract | This thesis talks about a work to design a robot with some to interact with human by spatial language. The robot is a differential drive robot with Kinect camera. The thesis proposes the perception methods which include furniture recognition, furniture orientation detection and robot reposition for recognition performance improvement. The perception uses RGB-Depth image and extracts furniture samples and recognize them by using linguistic model and probability model. A novel method is designed for furniture position and orientation detection. The thesis also shows a method of using robot reposition to improve the recognition performance. The thesis also talks on human robot interaction. It gives a model which can convert human natural spatial language to robot navigation instructions. Several experiments in both physical world and simulation are run to test the efficiency of these algorithms. | eng |
dc.format.extent | xi, 91 pages | eng |
dc.identifier.uri | http://hdl.handle.net/10355/37957 | |
dc.language | English | eng |
dc.publisher | University of Missouri--Columbia | eng |
dc.relation.ispartofcommunity | University of Missouri--Columbia. Graduate School. Theses and Dissertations | eng |
dc.source | Submitted by the University of Missouri--Columbia Graduate School | eng |
dc.subject | differential drive robot | eng |
dc.subject | perception methods | eng |
dc.subject | human robot interaction | eng |
dc.subject | spatial language | eng |
dc.title | Robot methods for human-robot spatial language interaction | eng |
dc.type | Thesis | eng |
thesis.degree.discipline | Electrical and computer engineering (MU) | eng |
thesis.degree.grantor | University of Missouri--Columbia | eng |
thesis.degree.level | Masters | eng |
thesis.degree.name | M.S. | eng |