Biography
Researcher, Educator, Entrepreneur, and Investor
Dr. Henrik I. Christensen is the Qualcomm Chancellor’s Chair of Robot Systems and a Distinguished Professor of Computer Science at Dept. of Computer Science and Engineering, UC San Diego. He is also the director of the Contextual Robotics Institute, the Cognitive Robotics Laboratory, and the Autonomous Vehicle Laboratory
He is an academic doing research on robotics and artificial intelligence, the main editor of the US National Robotics Roadmap, and an entrepreneur. He has co-founded multiple companies including Robust.AI, Christensen Consulting Group, AeroScan, and Intelligent Machines. He is also engaged in investments in publicly traded companies and start-ups through companies such as ROBO Global (co-founder), Calibrate Ventures, Interwoven and Spring Mountain Capital (advisor)
Dr. Christensen does research on robotics and AI, with an emphasis on a systems view to problems. The research has been published in 400+ contributions across AI, Computer Vision, and Robotics. The research has been adopted by companies such as Electrolux, ABB, KUKA, Weda, BMW, Boeing, iRobot, PerMobil, General Motors, … He serves as a consultant to agencies and companies across four continents.
Download my resumé .
Interests
- Autonomy
- Semantic Perception
- Information/Sensor Fusion
- Systems Engineering
Education
-
Ph.D. in Electrical Engineering, 1990
Aalborg University
-
M.Sc. Electrical Engineering, 1987
Aalborg University
-
Certificate of Engineering Design, 1981
Technical College of Frederikshavn
Skills
Robotics
100%
Estimation / ML / AI
90%
Photography
50%
Experience
Co-Founder
Strategy / Business Development
Distinguished Professor of Computer Science and Engineering
Education and Research in Robot Systems
Director / Qualcomm Chancellors Chair of Robot Systems
Interdisciplinary research on robotics
Co-Founder/Advisor
Investments in Robotics, AI and Healthcare
Director of Robotics/KUKA Chair of Robotics
Interdisciplinary research on robotics
Professor of Computer Science and Director of Center for Autonomous Systems
Interdisciplinary research on robotics
Associate Professor
Interdisciplinary research on robotics
Recent Posts
It has been a year in the making, but finally the 2024 version of the ``US National Robotics Roadmap’’ is ready for public consumption. With an amazing team of collaborators from across the nation we have generated an update to the document. It takes a village to do the update. We had 100+ white papers submitted with input about research, business cases and opportunities. The roadmap is based on three workshops in Philadelphia, Austin and Phoenix. The world is rapidly changing. Artificial Intelligence is gaining traction and robotics is the embodiment of these systems. Progress in natural language system and computer vision allows design of easier to use systems and machine learning add a new dimension to learning by demonstration and robust autonomy over time.
The roadmap outlines - mega-trends (how the world is changing), major business opportunities, obstacles to progress, and issues to be addressed in terms of research, training, and translation.
We gratefully acknowledge the support by host universities, the Computing Community Consortium (CCC) and the Engineering Visioning Research Alliance (ERVA). Obviously, this work would not have been possible without the broad participation from the community.
The 2024 roadmap is available from our web site and shortly also from the CCC and ERVA websites.
Projects
Courses
PhD Students
- Henry Zhang, Online Mapping
- Yiding Qiu, Graphical Mapping for Domestic Environments
- Jiaming Hu, Planning using a set of manifolds
- Abdulaziz Almuzairee (Aziz) - Robust Robot Learning
- Luobin Wang, Behavior Planning for Autonomous Vehicles
- Rohan Patil, Multi-Robot Planning Using Game Theory
- Zihan Zhang, Intent Recognition for Autonomous Vehicles
- Jing-Yan Liao, Prediction and Tracking in Urban Environments
- Seth Farrell, Micro-Mobility Systems for Urban Environments
- Julian Raheema, Autonomy for Field Robots
Recent Publications
Quickly discover relevant content by filtering publications.
(2024).
OSM vs HD Maps: Map Representations for Trajectory Prediction.
IROS-2024.
(2024).
Enhancing Online Road Network Perception and Reasoning with Standard Definition Maps.
IROS-2024.
(2024).
A Recipe for Unbounded Data Augmentation in Visual Reinforcement Learning.
RLC-2024.
(2024).
Robust Surgical Tool Tracking with Pixel-based Probabilities for Projected Geometric Primitives.
ICRA 2024.
(2024).
US National Robotics Roadmap 2024.
US Robotics Roadmap.
(2024).
SemVecNet: Generalizable Vector Map Generation for Arbitrary Sensor Configurations.
IV-2024.
(2024).
Open X-Embodiment: Robot Learning Dataset.
CORL-23.
(2023).
3D Scene Graph Prediction on Point Clouds Using Knowledge Graphs.
19 IEEE CASE, Auckland, NZ.
(2023).
A Real2Sim2Real Method for Robust Object Grasping with Neural Surface Reconstruction.
19th IEEE CASE 2023.
(2023).
Probabilistic Semantic Mapping for Autonomous Driving in Urban Environments.
MDPI Sensors.
(2023).
Scaling up multi-agent patrolling in urban environments.
SPIE Defense and Commercial Sensing.
(2023).
The neurophysiology of intraoperative error: An EEG study of trainee surgeons during robotic-assisted surgery simulations.
Frontiers in Neuroergonomics.
(2022).
Place-And-Pick-Based Re-Grasping Using Unstable Placement.
ISRR - Robotics Research.
(2022).
Putting away the Groceries with Precise Semantic Placements.
18th International Conference on Automation Science and Engineering (CASE).
(2022).
Robust Human Identity Anonymization using Pose Estimation.
18th International Conference on Automation Science and Engineering (CASE).
(2022).
Rotational Slippage Minimization in Object Manipulation.
18th International Conference on Automation Science and Engineering (CASE).
(2022).
Scan Matching and Probabilistic Stationary Global Localization in an Airport Environment.
International Conference on Automation Science and Engineering (CASE).
(2022).
Role of reward shaping in object-goal navigation.
CVPR.
(2022).
TridentNetV2: Lightweight Graphical Global Plan Representations for Dynamic Trajectory Generation .
Intl Conf of Robotics and Automation (ICRA).
(2022).
Robotics Research - The 19th International Symposium ISRR.
Springer Verlag.
(2021).
Autonomous Vehicles for Micro-Mobility.
Springer - Autonomous and Intelligent Systems.
(2021).
Distributed Heterogeneous Multi-robot Source Seeking Using Information Based Sampling with Visual Recognition.
17th International Symposium on Experimental Robotics..
(2021).
Heterogenous Multi-Robot Adversarial Patrolling Using Poly-Matrix Games.
7th International Conference on Robotics and Artificial Intelligence (ICRAI).
(2021).
Computer Vision Systems.
Springer Verlag.
(2021).
A Hierarchical Model to Enable Plan Reuse and Repair in Assembly Domains.
IEEE Conference on Automation Science and Engineering.
(2021).
TridentNet: A Conditional Generative Model for Dynamic Trajectory Generation.
Intelligent Autonomous Systems-16.
(2021).
Auto-calibration Method Using Stop Signs for Urban Autonomous Driving Applications.
International Conference on Robotics and Automation.
(2021).
A Roadmap for US Robotics - From Internet to Robotics 2020 Edition.
Foundations and Trends in Robotics.
(2020).
Ruling In and Ruling Out COVID-19: Computing SARS-CoV-2 Infection Risk From Symptoms, Imaging and Test Data.
Journal of Medical Internet Research (JMIR).
(2020).
Target Driven visual navigation exploiting object relationships.
The Conference on Robotic Learning.
(2020).
Autonomous Vehicle Benchmarking Using Unbiased Metrics.
International Conference on Intelligent Robots and Systems (IROS).
(2020).
Probabilistic Semantic Mapping for Urban Autonomous Driving Applications.
International Conference on Intelligent Robots and Systems (IROS).
(2020).
Looking at the right stuff' - guided semantic-gaze for autonomous driving.
Computer Vision and Pattern Recognition (CVPR).
(2020).
Combating COVID-19 -- the role of robotics in managing public health and infectious diseases.
Science Robotics.
(2020).
Penetration testing ROS.
Robot Operating System (ROS).
(2019).
A Taxonomy for Characterizing Modes of Interactions in Goal-driven, Human-robot Teams.
International Conference on Intelligent Robots and Systems.
(2019).
Black Block Recorder: Immutable Black Box Logging for Robots via Blockchain .
International Conference on Intelligent Robots and Systems.
(2019).
DEDUCE: Diverse scEne Detection methods in Unseen Challenging Environments.
*International Conference on Intelligent Robots and Systems *.
(2019).
Lessons Learned From Deploying Autonomous Vehicles at UC San Diego.
Field and Service Robotics.
(2019).
Robotic Reliability Engineering: A Story of Long-term TritonBot Development.
Field and Service Robotics.
(2019).
Network Reconnaissance and Vulnerability Excavation of Secure DDS Systems.
Workshop on Software Security for Internet of Things.
(2019).
Coordinating multi-robot systems through environment partitioning for adaptive informative sampling.
Intl. Conf. Robotics and Automation.
(2019).
Enabling Efficient Team Cooperation by Understanding Modes of Human-robot Interactions.
Intl. Conf. Robotics and Automation.
(2019).
Rorg: Service Robot Software Management with Linux Containers.
Intl. Conf. Robotics and Automation.
(2019).
WaveToFly: WaveToFly: Control a UAV using Body Gestures.
Intl. Conf. Robotics and Automation.
(2019).
Ten Technologies of the year.
Science Robotics.
(2018).
On-line Coordination Task for Multi-robot Systemsusing Adaptive Informative Sampling.
Intl. Symp. Exp. Robotics.
(2018).
Procedurally Provisioned Access Control for Robotic Systems.
RosCon.
(2018).
Towards Lifelong Adaptive Agents: Using Meta- reasoning for Combining Task Planning and Situated Learning.
The Knowledge Engineering Review.
(2018).
Using hierarchical expectations ground in percpetion for reasonign about failures during task execution.
AAAI 2018 Symposium - Real-World Systems for Long-Term Autonomy.
(2018).
Context Aware Robot Navigation using Interactively Built Semantic Maps.
Paladyn. Journal of Behavioral Robotics.
(2018).
TritonBot: First Lessons Learned from Deployment of A Long-term Autonomy Tour Guide Robot.
RoMan.
(2018).
Purely Geometric Scene Association and Retrieval - A case for macro-scale 3D geometry.
Intl. Conf. on Robotics and Automation.
(2018).
Realizing the Potential of Data Science.
Communications of the ACM.
(2018).
Robust grasp preimages under unknown mass and friction distributions .
Integrated Computer Aided Engineering.
(2018).
A Taxonomy of Benchmark Tasks for Robot Manipulation.
Robotics Research: Volume 1.
(2017).
Approximation and online algorithms for multidimensional bin packing: A survey .
*Computer Science Review *.
(2017).
Custom soft robotic gripper sensor skins for haptic object visualization.
Intelligent Robots and Systems (IROS), 2017 IEEE/RSJ International Conference on.
(2017).
Distributed mapping with privacy and communication constraints: Lightweight algorithms and object-based models.
The International Journal of Robotics Research.
(2017).
StuffNet: Using ``Stuff'' to Improve Object Detection.
IEEE Winter Conference on Applications of Computer Vision (WACV).
(2016).
SROS: Securing ROS over the wire, in the graph and through the kernel.
Humanoids 2016.
(2016).
Whole Body Control of Wheeled Inverted Pendulum Humanoids.
Intl. Conf. on Humanoid Robotics.
(2016).
Active Planning based Extrinsic Calibration of Exteroceptive Sensors in Unkown Environments.
International Conference on Intelligent Robots and Systems.
(2016).
An Assembly Sequence Generation of a Product Family for Robot Programming .
International Conference on Intelligent Robots and Systems.
(2016).
Multi Robot Object-based SLAM.
Intl. Symp. on Experimental Robotics.
(2016).
Navigation among Movable Obstacles with Learned Dynamic Constraints.
International Conference on Intelligent Robots and Systems.
(2016).
Anticipatory Robot Path Planning in Human Environments.
The 25th IEEE International Symposium on Robot and Human Interactive Communication.
(2016).
Combining Arm and Hand Metrics for Sensible Grasp Modeling.
Conf. on Automation Science and Engineering (CASE).
(2016).
Next Generation Robotics.
(2016).
Affordance-Feasible Planning with Manipulator Wrench Spaces.
Intl. Conf of Robotics and Automation (ICRA).
(2016).
Distributed Trajectory Estimation with Privacy and Communication Constraints: a Two-Stage Distributed Gauss-Seidel Approach.
Intl. Conf of Robotics and Automation (ICRA).
(2016).
Hierarchical Rejection Sampling for Informed Kinodynamic Planning in High-Dimensional Spaces .
Intl. Conf of Robotics and Automation (ICRA).
(2016).
Online Camera Registration for Robot Manipulation .
Experimental Robotics.
(2016).
RGB-D object pose estimation in unstructured environments.
Robotics and Autonomous Systems.
(2016).
Towards coordinated precision assembly with robot teams.
Experimental Robotics.
(2015).
Robotics Research.
Springer Verlag.
(2015).
The Robot Vision Challenge: Where are we after 5 editions?.
IEEE Robotics and Automation Magazine.
(2015).
Using Environment Objects as Tools in Unknown Environments.
Intl. Conf. on Humanoid Robots.
(2015).
A Taxonomy of Benchmark Tasks for Bimanual Manipulators.
Intl. Conf. Robotics Research.
(2015).
Exactly Sparse Memory Efficient SLAM using the Multi-Block Alternating Direction Method of Multipliers.
IEEE/RSJ International Conference on Intelligent Robots and Systems.
(2015).
Occlusion Aware Object Localization, Segmentation and Pose Estimation.
British Machine Vision Conference.
(2015).
Multi-scale assembly with robot teams.
International Journal of Robotics Research.
(2015).
Efficient Manipulation Planning with basic primitives.
ICRA.
(2015).
Information based Reduced Landmark SLAM.
ICRA.
(2015).
Learning Non-Holonomic Object Models for Mobile Manipulation.
ICRA.
(2015).
Towards contextual awareness in robot mapping: extracting semantic hierarchy from point cloud data.
Unmanned Systems Technology XVII.
(2015).
Semantic Instance Labeling Leveraging Hierarchical Segmentation.
Winter Conference on Applications of Computer Vision (WACV).
(2014).
Online Multi-Camera Registration for Bimanual Workspace Trajectories.
Proceedings of the International Conference on Humanoid Robots (HUMANOIDS).
(2014).
Finding Optimal Routes for Multi-Robot Patrolling in Generic Graphs.
IROS-2014.
(2014).
SLAM with object discovery, modeling and mapping.
IROS-2014.
(2014).
A Case for SysML in Robotics.
International Conference on Automation Science and Engineering (CASE).
(2014).
Efficient Hierarchical Graph-Based Segmentation of RGBD Videos.
Proc. of IEEE Conference on Computer Vision and Pattern Recognition (CVPR).
(2014).
Modeling Robot Assembly Tasks in Manufacturing Using SysML.
ISR/Robotik.
(2014).
OmniMapper: A modular multimodal mapping framework.
ICRA.
(2014).
Online Camera Registration for Robot Manipulation.
Proceedings of the 2014 International Symposium on Experimental Robotics (ISER).
(2014).
Trust Modeling in Multi-Robot Patrolling.
ICRA.
(2014).
Vibro-Tactile Belt Interface for Robotic Human Navigation.
ICRA.
(2014).
Object guided autonomous exploration for mobile robots in indoor environments.
SPIE Defense+Security.
(2014).
Anisotropic Agglomerative Adaptive Mean-Shift.
CoRR.
(2014).
Coordination strategies for multi-robot exploration and mapping.
Intl. Jour. of Robotics Research.
(2014).
Effects of sensory precision on mobile robot localization and mapping .
Experimental Robotics.
(2014).
Persistent Patterns: Multi-Agent Learning beyond Equilibrium and Utility.
13th International Conference on Autonomous Agents and Multiagent Systems (AAMAS2014).
(2014).
Robotic Plasma Probe Ionization Mass Spectrometry (RoPPI-MS) of Non-Planar Surfaces.
Analyst.
(2013).
RGB-D Edge Detection and Edge-Based Registration.
IROS.
(2013).
RGB-D Object Tracking: A Particle Filter Approach on GPU.
IROS.
(2013).
Accuracy Analysis of Skeleton Trackers for Safety in HRI.
Workshop on Safety and Comfort of Humanoid Coworker and Assistant (Humanoids 2013).
(2013).
Autonomous Person Following for Telepresence Robots.
Intl. Conf. on Robotics and Automation.
(2013).
Robot Planning with a Semantic Map.
Intl. Conf. on Robotics and Automation.
(2013).
Dynamic, cooperative multi-robot patrolling with a team of UAVs.
SPIE Defense, Security, and Sensing.
(2013).
Learning Task Performance in Market-Based Task Allocation.
Intelligent Autonomous Systems 12.
(2013).
Multi-robot exploration strategies for tactical tasks in urban environments.
SPIE Defense, Security, and Sensing.
(2013).
Performance based task assignment in multi-robot patrolling.
Proceedings of the 28th Annual ACM Symposium on Applied Computing.
(2013).
Robot mapping in large-scale mixed indoor and outdoor environments.
SPIE Defense, Security, and Sensing.
(2012).
3D Pose estimation for daily objects using and RGB-D camera.
Intl. Conf on Intelligent Robotics and System.
(2012).
3D Textureless Object Detection and Tracking: An Edge-based approach.
Intl. Conf on Intelligent Robotics and System.
(2012).
Finding Graph Topologies for Feasible Multirobot Motion Planning.
Intl. Conf on Intelligent Robotics and System.
(2012).
Interactive Map Labeling for Service Robots.
Workshop on Active Semantic Perception in IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2012).
(2012).
Roboitcs Research - ISRR 2011.
Intl. Jour. of Robotics Research.
(2012).
A Taxonomic Framework for Task Modeling and Knowledge Transfer in Manufacturing Robotic.
Eighth International Cognitive Robotics Workshop.
(2012).
Performance Based Monitoring using Statistical Control Charts on Multi-Robot Teams.
15th Intl. Conf on Information fusion.
(2012).
Coordination strategies for multi-robot exploration and mapping.
13th Intl. Symp. on Experimental Robotics.
(2012).
Learning Task Performance in Market-Based Task Allocation.
Proc. 12th Intl. Autonomous Systems.
(2012).
Linguistic Composition of Semantic Maps and Hybrid Controllers.
13th Intl. Symp. on Experimental Robotics.
(2012).
A Conditional Random Field Model for Place and Object Classification.
Intl. Conf. On Robotics and Automation.
(2012).
Planar Surface SLAM with 3D and 2D Sensors.
Intl. Conf. On Robotics and Automation.
(2012).
Autonomous 3D exploration and mapping with unmanned ground robots.
SPIE Defense, Security and Sensing.
(2012).
Performance based dynamic team formation in multi-agent auctions.
SPIE Defense, Security and Sensing - Symposium 8398.
(2012).
Incentive based cooperation in multi-agent auctions.
AAAI Spring Symposium.
(2012).
Formulation of a U.S. National Strategy for Robotics [Industrial Activities].
IEEE Robot. Automat. Mag..
(2012).
Robust 3D visual tracking using particle filtering on the special Euclidean group: A combined approach of keypoint and edge features.
Intl. Jour. of Robotics Research.
(2011).
Special Issue on Semantic Perception for Robots in Indoor Environments.
Intl. Jour. of Robotics Research.
(2011).
Enhancing the robot service experience through social media.
IEEE ws. on Roman and Human Interactive Communication (ROMAN).
(2011).
Feature-based Mapping with Grounded Landmark and Place Labels.
RSS Workshop on Grounding Human-Robot Dialog for Spatial Tasks.
(2011).
Robust 3D Visual Tracking Using Particle Filtering on the SE(3) Group.
Intl. Conf. on Robotics and Automation.
(2011).
Cooperative Mapping of Indoor Environments.
Defense, Security and Sensing.
(2011).
HRI: The Real World.
HRI 2011 - Proc. of 6th ACM–IEEE Intl. Conf on Human Robot Interaction.
(2011).
Darwinian Embodied Evolution of the Learning Ability for Survival.
Adaptive Behaviour.
(2011).
Evaluating Human-Robot Interaction - Focusing on the Holistic Interaction Experience.
I. J. Social Robotics.
(2010).
Effects of Sensory Precision on Mobile Robot Localization and Mapping.
International Symposium on Experimental Robotics.
(2010).
Tables, Counters, and Shelves: Semantic Mapping of Surfaces in 3D.
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2010) Workshop on Semantic Mapping and Autonomous Knowledge Acquisition.
(2010).
Medical and Health-Care Robotics.
Robotics and Automation Magazine.
(2010).
Detecting region transitions for human-augmented mapping.
IEEE Trans.~on Robotics.
(2010).
International Symposium on Intelligent Autonomous Systems -- IAS-11.
IOS Press.
(2010).
Applying Domain Knowledge to SLAM using Virtual Measurements.
ICRA-2010.
(2010).
Cognitive Systems.
Springer Verlag.
(2010).
Real-time 3D Model-based Tracking Using Edge and Keypoint Features for Robotic Manipulation.
ICRA-2010.
(2010).
Computational Visual Attention Systems and their Cognitive Foundation: A Survey.
ACM Trans. on Active Perception.
(2010).
Domestic Robot Ecology - An initial framework to unpack long-term acceptance of robots at home.
International Journal of Social Robotics.
(2010).
Evaluating Human-Robot Interaction: Focusing on the holistic Interaction Experience.
I. J. of Social Robotics.
(2010).
Using Simulation to Assess the Effectiveness of Pallet Stacking Methods.
Simulation, Modeling, and Programming for Autonomous Robots.
(2009).
Constructing a high-performance robot from commercially available parts.
IEEE Robotics and Automation Magazine.
(2009).
A minimum jerk predictor for teleoperation with variable time delay.
IEEE/RSJ Intl. Conf. on Intell. Robots and Systems.
(2009).
Adding diagnostics to intelligent service robots.
IEEE/RSJ Intl. Conf. on Intell. Robots and Systems.
(2009).
Cognitive vision for efficient scene processign and object categorization in highly cluttered environments.
IEEE/RSJ Intl. Conf. on Intell. Robots and Systems.
(2009).
Normalized graph-cuts for large scale visual SLAM.
IEEE/RSJ Intl. Conf. on Intell. Robots and Systems.
(2009).
Visual Place Categorization: Problem, Dataset, and Algorithm.
IEEE/RSJ Intl. Conf. on Intell. Robots and Systems.
(2009).
Wii-mote robot control using human motion models.
IEEE/RSJ Intl. Conf. on Intell. Robots and Systems.
(2009).
Adaptive CPG based coordinated control of healthy and robotics lower limb movement.
18th IEEE International Symposium on Robot and Human Interactive Communication.
(2009).
Sketching the future: Assessing user needs for domestic robots.
18th IEEE International Symposium on Robot and Human Interactive Communication.
(2009).
A realistic benchmark for visual indoor place recognition.
Robotics and Autonomous Systems.
(2009).
mobile sensor network forming concentric circles through local interaction and consensus building.
Jour. of Robotics and Mechatronics.
(2009).
Pimp my Roomba: designing for personalization.
ACM Conf on Human Factors in Computer Systems - CHI-09.
(2009).
Robots in the wild: understanding long-term use.
ACM Conf. on Human Robot Interaction - HRI-09.
(2008).
Co-Evolution of Shaping Rewards and Meta-Parameters in Reinforcement Learning.
Adaptive Behaviour.
(2008).
Mobile Manipulation in Everyday Environments.
Intl. Conf on Control, Automation and Systems.
(2008).
Detecting Structural Ambiguities and Transistions during a Guided Tour.
2008 IEEE Intl. Conf. on Robotics and Automation.
(2008).
Sensing and Estimation.
Handbook of Robotics.
(2008).
Teleoperation for a ballcatching task with significant dynamics.
IEEE Trans on Neural Networks.
(2008).
Towards Robust Place Recognition for Robot Localization.
2008 IEEE Intl. Conf. on Robotics and Automation.
(2008).
From Sensors to Human Spatial Concepts: An Annotated Data Set\".
IEEE Trans on Robotics.
(2008).
Housewives or technophiles?: understanding domestic robot owners.
HRI-08: Proc of 3rd ACM/IEEE Intl Conf on Human Robot Interaction.
(2008).
SIFT based Graphical SLAM on a packbot.
Field and Service Robotics.
(2007).
Agent Negotiation of Target Distribution Enhancing System Surviveabilty.
Intl Jour. of Intelligent Systems.
(2007).
Hybrid System Architecture for Autonomous, Urban Driving.
Journal of Aerospace Computing, Information, and Communication.
(2007).
The M-space feature representation for SLAM.
IEEE Transaction on Robotics.
(2007).
Long-term study of a portable field robot in Urban Terrain.
Journal of Field Robotics.
(2007).
My Roomba is Rambo: Intimate Home Appliances.
9th Intl Conf on Ubiquitous Computing.
(2007).
Assessment of Man-Portable Robots for Law Enforcement Agencies.
PerMis.
(2007).
Closing the loop with Graphical SLAM.
IEEE Trans. on Robotics.
(2007).
Evolutionary Development of Hierarchical Learning Structures.
IEEE Trans on Evolutionary Computing.
(2007).
Using COTS to construct a high performance robot arm.
ICRA-2007.
(2007).
Graphical SLAM for Outdoor Applications.
Journal of Field Robotics.
(2007).
Reactive Tuning of Target Estimation Accuracy in Multi-Sensor Data Fusion.
Cybernetics and Systems.
(2006).
A Discriminative Approach to Robust Visual Place Recognition.
IROS.
(2006).
Attentional Landmark Selection for Visual SLAM.
IROS-06.
(2006).
Bridging together human and robotics environmental representations / a pilot study.
Proc. IEEE/RSJ Intl Conf on Intell. Robots and Systems (IROS-06).
(2006).
Design of a control strategy for tele-operation of a platform with significant dynamics.
Proc. IEEE/RSJ Intl Conf on Intell. Robots and Systems (IROS-06).
(2006).
Design of an Office-Guide Robot for Social Interaction Studies.
Intl Conf on Intelligent Robots and Systems (IROS).
(2006).
Measurement Errors in Visual Servoing.
Robotics and Autonomous Systems.
(2006).
SLAM using Visual Scan-Matching with Distinguishable 3D Points.
IROS-06.
(2006).
Topological Modelling of Human Augmented Mapping.
Proc. IEEE/RSJ Intl Conf on Intell. Robots and Systems (IROS-06).
(2006).
Clarification Dialogues in Human Augmented Mapping.
ROMAN-06.
(2006).
Evaluation of Passing Distance for Social Robots.
Workshop on Robot and Human Interactive Communication (ROMAN).
(2006).
What's in the gap? Interaction transistions that make HRI Work.
ROMAN-06.
(2006).
Long-term study of portable field robots in urban terrain.
PERMIS-2006.
(2006).
Pay Attention When Selecting Features.
Intl Conf of Pattern Recognition.
(2006).
Cognitive Vision - Sampling the Spectrum.
Springer Verlag.
(2006).
Acquiring a Shared Environment Representation.
Human-Robot Interaction.
(2006).
Clarification dialogues in human-augmented mapping.
Human-Robot Interaction.
(2006).
European Robot Symposium -- 2006.
Springer Verlag.
(2006).
Exploiting Distinguishable Image Features in Robotic Mapping and Localisation.
European Robot Symposium – 2006.
(2005).
Biologically Inspired Embodied Evolution of Survival.
IEEE Congress on Evolutionary Computation.
(2005).
Embodied Social Interaction in Hallway Settings: a User Study.
IEEE ws. on Roman and Human Interactive Communication (ROMAN).
(2005).
Graphical SLAM using Vision and the Measurement SubSpace.
Intl Conf. on Intelligent Robotics and Systems (IROS).
(2005).
The use of robotics in harsh and unstructured field applications.
IEEE ws. on Roman and Human Interactive Communication (ROMAN).
(2005).
Tracking for Following and Passing Persons.
Intl Conf. on Intelligent Robotics and Systems (IROS).
(2005).
A Wearable GUI for Field Robots.
Field and Service Robotics.
(2005).
Embodied social interaction for service robots in hallway environments.
Field and Service Robotics.
(2005).
A Method for Following of Unmarked Roads.
Intelligent Vehicles ‘05.
(2005).
Advances in Robot Vision.
Robotics and Autonomous Systems.
(2005).
EURON- European Robotics Network.
IEEE Robotics and Automation Magazine.
(2005).
Issues and strategies for robotic object manipulation in domestic settings.
Robotics and Autonomous Systems.
(2005).
Embodied Social Interaction for Robots.
AISB-05.
(2005).
Vision SLAM in the Measurement SubSpace.
Intl Conf. on Robotics and Automation.
(2004).
New Shortest Path Approaches to Visual Servoing.
IROS-04.
(2004).
Object detection using background context.
ICPR.
(2004).
Cognitive Vision.
AI Magazine.
(2004).
Robust SLAM.
IAV-2004.
(2004).
Object based visual attention: searching for objects defined by size.
Workshop on Attention Processes in Computer Vision – WAPCV.
(2004).
UGV Technology for Urban Intervention.
SPIE – Home Security.
(2004).
2D Mapping of Cluttered Indoor Environments by Means of 3D Perception.
ICRA-04.
(2004).
An architecture for indoor navigation.
ICRA-04.
(2004).
An interactive interface for service robots.
ICRA-04.
(2004).
Artificial Potential Biased Probabilistic Roadmap Method.
ICRA-04.
(2004).
Graphical SLAM - A self-correcting map.
ICRA-04.
(2004).
Measurement Errors in Visual Servoing.
ICRA-04.
(2004).
Navigation for Human-Robot Interaction Tasks.
IEEE Intl.~Conf.~on Robotics and Automation - 04.
(2004).
Path Planning.
Robotics Research-03.
(2003).
Biologically Movitaed Visual Servoing and Grasping of Real World tasks.
Intl Conf. on Intelligent Robotics and Systems (IROS).
(2003).
Robust Visual Servoing.
Intl Jour. of Robotics Research.
(2003).
Visual Servoing -- Editorial.
Intl. Jour. of Robotics Research.
(2003).
Automatic Grasp Planning Using Shape Primitives.
Intl Conf on Robotics and Automation.
(2003).
Automatic Map Acquisition for Navigation in Domestic Environments.
ICRA-03.
(2003).
Confluence of Parameters in Model-Based Tracking.
Intl Conf on Robotics and Automation.
(2003).
Implementation of Multi-rigid-body Dynamics within a Robotic Grasping Simulator.
Intl Conf on Robotics and Automation.
(2003).
Smooth task switching through behaviour competition.
Robotics and Autonomous Systems.
(2003).
Vision and Tactile Sensing for Real-World Tasks.
Intl Conf on Robotics and Automation.
(2003).
A Game Theoretic Model for Management of Mobile Sensors.
Information Fusion-03.
(2003).
Adaptive Hand-Eye Coordination.
Skilled Hand Motion.
(2003).
A framework for visual servoing.
ICVS-03.
(2003).
Artificial Intelligence: Machine Vision.
Van Norstrand’s Scientific Encyclopedia.
(2003).
Behavior coordination in structured environments.
Advanced Robotics.
(2003).
Evaluation of architectures for mobile robotics.
Autonomous Robots.
(2003).
Intelligent Home Appliances.
Robotics Research.
(2002).
Attention using Game Theory.
BMCV-2002.
(2002).
Behaviour Coordination for Navigation in Real-World Office Environments.
IROS-02.
(2002).
Vision techniques for robotics manipulation and grasping.
International Symposium on Robotics.
(2002).
Visual Servoing meets the real world.
Visual Servoing.
(2002).
Constrained structure and motion estimation from optical flow.
Intl. conf. on Pattern Recognition.
(2002).
Maximum Likelihood Structure and Motion Estimation Integrated over Time.
Intl. conf. on Pattern Recognition.
(2002).
Integrated systems for Mapping and Localization.
ICRA-02 SLAM Workshop.
(2002).
Mobile Robot Programming Paradigms.
IEEE.
(2002).
Systems Integration for Real-World Manipulation Tasks.
Proc. of 2002 IEEE Intl. Conf on Robotics and Automation.
(2002).
Weak Models and Cue Integration for Real-Time Tracking.
Proc. of 2002 IEEE Intl. Conf on Robotics and Automation.
(2002).
Smooth Task Switching through behaviour Coordination.
Intelligent Autonomous Systems 7 – IAS7.
(2002).
Control Problems in Robotics.
Springer Verlag.
(2001).
Empirical Evaluation of Computer Vision Methods -- 2001.
IEEE CS Press.
(2001).
DCA: A Distributed Control Architecture for Robotics.
IROS-2001.
(2001).
Resursive Flow Based Structure from Parallax with Automatic Rescaling.
British Machine Vision Conference.
(2001).
Simultaneous Mapping and Localisation in Domestic Environments.
Multi-Sensory Fusion and Integration for Intelligent Systems.
(2001).
SLAM in Realistic Environments.
Symposium on Intelligent Robotic Systems.
(2001).
Vision for Robot Interaction.
M2VIP.
(2001).
Pose Tracking Using Laser Scanning and Minimalistic Environmental Models.
IEEE Trans. on Robotics and Automation.
(2001).
Cue Integration for Visual Servoing.
IEEE Trans. on Robotics and Automation.
(2001).
Computer Vision:Past and Future.
Informatics: 10 Years Back, 10 Years Ahead.
(2001).
Vision for Interaction.
Intelligent Robot Systems.
(2000).
Autonomous Poolcleaning: Self Localisation and Autonomous Navigation for Cleaning.
Autonomous Robots.
(2000).
Triangulation Based Fusion of Sonar Data with Application in Robot Pose Tracking.
IEEE Transaction on Robotics and Automation.
(2000).
Active Exploration for Feature Based Global Localisation.
IROS-2000, Takamatsu.
(2000).
Vision-Based Door--Traversal for Autonomous Mobile Robots.
IROS-2000, Takamatsu.
(2000).
A Comparison of Stereo Based and Flow Based Structure from Parallax.
SIRS-00.
(2000).
A Framework for Visual Servoing.
Intelligent Autonomous Systems – 6.
(2000).
Towards an Intelligent Robot System.
Proceedings of the Intelligent Autonomous Systems 6, IAS-6.
(2000).
Towards an Intelligent Service Robot System.
Proc. 6th Intelligent Autonomous Systems.
(2000).
Towards Task Oriented Localisation.
Intelligent Autonomous Systems – 6.
(2000).
Human-Robot Interaction for Service Robots.
Robotik-2000.
(2000).
Active Vision from Multiple Cues.
Biologically Motivated Computer Vision – BMCV 2000.
(2000).
BERRA: A Research Architecture for Service Robots.
Intl. Conf. on Robotics and Automation.
(2000).
Tracking Techniques for Visual Servoing Tasks.
ICRA-2000.
(2000).
Localisation and navigation of a mobile robot using natural landmarks extracted from sonar data.
Robotics and Autonomous Systems.
(2000).
Active Visual Tracking of an end-effector: Integration of various cues.
Robust vision for vision-based control of motion.
(1999).
Intelligent Sensor Based Robotics.
Springer Verlag.
(1999).
A Hybrid Control Architecture for Mobile Manipulation.
Proc. of International Robotics Symposium ‘99 – IROS.
(1999).
Integration of visual cues for active tracking of an end effector.
Proc. IEEE/RSJ international Conference on Intelligent Robots and Systems.
(1999).
Intelligent Sensor Based Robots.
Springer Verlag.
(1999).
Mobile Manipulation: Getting a grip?.
ISRR-99.
(1999).
Robotics for the Home, Office and Playing Field.
IJCAI-99.
(1999).
A Framework for Mobile Manipulation.
SIRS ‘99 – 7th International Symposium on Robotics Systems.
(1999).
Sonar Based Pose Tracking Using Natural Landmarks.
SIRS ‘99 – 7th International Symposium on Robotic Systems.
(1999).
Vision Based Servoing and Grasping with Multiple Control Schemes.
SIRS ‘99 – 7th International Symposium on Intelligent Robotic Systems.
(1999).
A person following behaviour.
ICRA-99.
(1999).
Laser Based Pose Tracking.
Proc.~of the IEEE International Conference on Robotics and Automation (ICRA'99).
(1999).
Exploiting process integration and composition in the context of active vision.
IEEE Transaction of Systems, Man and Cybernetics.
(1999).
Computer Vision Systems.
Springer Verlag.
(1999).
Scaling the dynamic approach to path planning and control: Competition amoung behavioural constriants.
Intl. Jour. of Robotics Research.
(1999).
Using a redundant coarsely calibrated vision system for 3D grasping.
Proc. of CIMCA'99.
(1998).
Laser Based Position Acquisition and Tracking in an Indoor Environment.
Proc.~of the International Symposium on Robotics and Automation.
(1998).
Intelligent Robotic Systems.
Robotics and Autonomous Systems.
(1998).
Extraction of Natural Landmarks and Localization using Sonars.
Proc.~of the International Symposium on Intelligent Robotic Systems (SIRS'98).
(1998).
Triangulation based fusion of ultrasonic sonar data.
IEEE Conf. on Robotics and Automation.
(1998).
Voting Based Cue Integration.
5th Euopean Conference on Computer Vision.
(1998).
Visual-Based Navigation -- A Survey.
CESA-98.
(1998).
Application of voting to fusion of purposive modules: an experimental investigation.
Robotics and Autonomous Systems.
(1998).
The AV-Shell.
Autonomous Robots.
(1997).
Behaviour Coordination using Multiple Objective Decision Making.
Proc. Conf. on Intelligent Systems and Advanced Manufacturing.
(1997).
Active Object Recognition Integrating Attention and View Point Control.
Computer Vision and Image Understanding.
(1997).
Dynamic Robot Planning.
Environmental Modeling.
(1997).
5th Symposium on Intelligent Robotics Systems.
KTH.
(1997).
Experimental Evaluation of Voting Schemes for Fusion of Redundant Purposive Modules.
Proc. of 5th Intl. Symp. on Intell. Robotic Systems.
(1997).
Dynamic Robot Planning: Cooperation through Competition.
IEEE International Conference on Robotics and Automation 1997.
(1997).
Fusion of Redundant Visual Behaviours.
IEEE International Conference on Robotics and Automation 1997.
(1997).
Theoretical Methods for Planning and Control in Mobile Robotics.
1st International Conference on Conventional and Knowledge Based Intelligent Electronic Systems (KES-97).
(1997).
Advanced in Computer Vision.
MIT Press.
(1997).
Experiments in Behaviour Composition.
Journal on Robotics and Autonomous Systems.
(1997).
Performance Characteristics of Vision Algorithms.
Machine Vision and Applications.
(1997).
A Viewpoint Planning Strategy for Determining True Angles on Polyhedral Objects by Camera Alignment.
IEEE Trans. PAMI.
(1996).
Decision-theoretic multisensor planning and integration for mobile robot navigation..
Proceedings of the 1996 IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems (MFI'96).
(1996).
Using Grammars for Scene Interpretation.
Proceedings from International Conference on Image Processing.
(1996).
Integration of visual processes for control of fixation.
Proceedings of the 4th International Symposium on Intelligent Robotic Systems'96.
(1996).
A System for Active Vision Driven Robotics.
Proceedings from The IEEE International Conference on Robotics and Automation, Minneapolis..
(1996).
Proceedings: ECVnet Workshop on Performance Characteristics of Computer Vision Algorithms.
AUCPress.
(1995).
A control theoretic approach to active vision.
Proceedings from the Second Asian Conference on Computer Vision.
(1995).
Hierarchical Control for Navigation Using Heterogenuous Models.
Modelling and Planning for Sensor Based Intellignet Robot Systems.
(1995).
Experiments in Behaviour Composition.
Proceedings from The International Symposium on Intelligent Robotic Systems 95.
(1995).
The Active Vision Shell.
Proceedings of the Third International Symposium on Intelligent Robotic Systems'95, SIRS-95.
(1995).
Modelling and Testing the Stability of Edge Segment; Length and Orientation.
Proceedings of the 9th Scandinavian Conference on Image Analysis.
(1995).
Using the Relation between a Plane Projectivity and the Fundamental Matrix.
Proceedings of the 9th SCIA.
(1995).
Discrete Event Modeling of Visually Guided Behaviors.
Intl. Jour. on Computer Vision, Special Issue on Qualitative Vision.
(1995).
Hierarchical Control Design Based on Petri-Net Modelling for an Autonomous for Mobile Robot.
Proceedings from the Intelligent Autonomous Systems IV.
(1995).
A Vision Programmers Workbench.
Vision as Process.
(1995).
Control of Perception.
Vision as Process.
(1995).
Modelling and testing the stability of edge segments: Length and orientation.
World Scientific Press.
(1995).
System Integration and Control.
Vision as Process.
(1995).
Vision as Process.
Springer Verlag.
(1994).
AMOR: An Autonomous Mobile Robot Navigation System.
IEEE, International Conference on Systems, Man and Cybernetics.
(1994).
Determining Angles with a Movable Observer.
Proceedings of the 12th IAPR International Conference on Pattern Recognition : Conference A: Computer Vision and Image Processing.
(1994).
Active Vision - A Survey..
Proceedings of the 11th European Conference on Artificial Intelligence, ECAI'94.
(1994).
Constraining Visual Expectations Using a Grammar of Scene Events.
World Scientific.
(1994).
Purposive Reconstruction.
CVGIP: Image Understanding.
(1994).
Reconstruction of 3D planes with an image-enhanced estimator.
Proceedings of the International Workshop on Intelligent Robotic Systems ‘94..
(1994).
Localizing Un-Calibrated, Reactive Camera Motion in an Object Centered Coordinate System.
Proceedings: IEEE Workshop on Visual Behaviours..
(1994).
Qualitative Recognition using Bayes Reasoning.
Proceedings from Pattern Recognition in Practice IV.
(1994).
Qualitative Tracking of 3-D Objects using Active Contour Networks.
Proceedings from The International Conference on Computer Vision and Pattern Recognition..
(1994).
Reactive View Planning for Quantification of Local Geometry.
Proceedings from IEEE Conference on Computer Vision and Pattern Recognition, Seattle, Washington.
(1994).
Using Multiple Cues for Controlling and Agile Camera Head.
Proceedings from The IAPR Workshop on Visual Behaviours, Seattle 1994..
(1994).
Active Object Recognition Integrating Attention and Viewpoint Control.
Proceedings from the Third European Conference on Computer Vision, Stockholm.
(1994).
The Vision Programmers Workbench (VIPWOB).
World Scientific.
(1994).
Vision as Process: Integration and Control of a Real Time Active Vision System.
World Scientific.
(1994).
Experimental Environments in Computer Vision and Image Analysis.
World Scientific Press.
(1994).
Image and Signal Processing - Synopsis.
Schattauer.
(1994).
Model-driven vision for in-door navigation.
Robotics and Autonomous Systems.
(1993).
The Scale Space Aspect Graph.
IEEE Transactions on Pattern Analysis and Machine Intelligence.
(1993).
Continuous Reconstruction of Scene Objects.
Proceedings from Conference on Sensor Fusion VI, Boston, 1993.
(1993).
Model-driven Vision for In-door Navigation.
Proceedings from Conference on Sensor Fusion VI, Boston, 1993.
(1993).
Vision as Process: Integration and Control of a Real Time Active Vision System.
Proceedings of the Swiss Vision 93.
(1993).
Active Vision for Robot Navigation.
Proceedings from IRS'93, Zakopane, Poland.
(1993).
Cooperative Depth Extraction.
Proceedings of the 8th Scandinavian Conference on Image Analysis.
(1993).
Experiments in Mobile Robot Navigation and Range Imaging.
Proceedings of the 8th Scandinavian Conference on Image Analysis..
(1993).
Monitoring of Road Traffic.
Proceedings of the 8th Scandinavian Conference on Image Analysis (=SCIA 93).
(1993).
Qualitative Prediction in Active Recognition.
Proceedings of the 8th Scandinavian Conference on Image Analysis.
(1993).
Qualitative Scene Models From Sparse 3D Data.
Proceedings of the 8th Scandinavian Conference on Image Analysis.
(1993).
Using Match Uncertainty in the Kalman Filter for a Sonar Based Positioning System.
Proceedings of the 8th Scandinavian Conference on Image Analysis..
(1993).
A Low-Cost Robot Camera Head.
Intl. Jour. of Pattern Recognition and Artificial Intelligence. Special issue on Active Robot Vision: Camera Heads, Model Based Navigation and Reactive Control.
(1993).
Active Robot Vision: Camera Heads, Model Based Navigation and Reactive Control.
World Scientific Publishers.
(1992).
Control of Percpetion in Dynamic Vision.
Mobile Robotics III.
(1992).
Proceedings Nordic Summer School on Active Vision and Geometric Modeling.
AUC Press.
(1992).
VINAV, Et system for VIsion støttet NAVigation.
Proceedings Nordic Summer School on Active Vision and Geometric Modeling, Aalborg, 1992.
(1992).
The Scale Space Aspect Graph.
Proceedings from the IEEE Conference on Computer Vision and Pattern Recognition, June 1992, Urbana, Illinois.
(1992).
Vision as Process.
Proceedings of ESPRIT DAY at the Second European Conference on Computer Vision 1992.
(1992).
Bayesian Methods for Interpretation and Control in Multi-agent Vision Systems.
Proceedings of SPIE Conference on Application of AI X: Machine Vision and Robotics.
(1992).
The AUC Robot Camera Head.
Proceedings of SPIE Conference on Application of Artificial Intelligence X : Machine Vision and Robotics.
(1992).
Applying the Scale Space Concept to Perspective Projection Aspect Graphs.
Theory and Applications of Image Analysis - Selected Papers from 7th Scandinavian Conference on Image Analysis..
(1992).
Laser Range Guided Robot Vehicle.
Proceedings of the Second Nordic Workshop on Industrial Machine Vision.
(1992).
Navigation Using Range Images on a Mobile Robot.
Robotics and Autonomous Systems.
(1991).
A Graph Based Approach to 3D Qualitative Scene Modelling.
Proceedings of the 7th Scandinavian Conference on Image Analysis.
(1991).
An Analysis of Three Depth Recovery Techniques.
Proceedings of the 7’th Scandinavian Conference on Image Analysis..
(1991).
On Methods for Efficient Pyramid Construction.
Proceedings of the 7th Scandinavian Conference on Image Anal.
(1990).
Basic Control Issues in a Continuously Operating Vision System.
Proc. ESPRIT BR Workshop on Control of Perception in Active Vision, 2nd ECCV.
(1990).
Dynamic Robot Vision.
Traditional and Non-Traditional Robotic Sensors..
(1989).
Concurrent Processing for Real Time Motion Detection.
Proceedings of the 6th Scandinavian Conference on Image Analysis.
(1989).
Concurrent Multi-Resolution Image Analysis.
Proc. Fourth Conference on Hypercube Concurrent Computers and Applications.
(1989).
Concurrent Spatio-Temporal Image Analysis.
Proc. Fourth Conference on Concurrent Hypercube Computers.
(1989).
On Principles of Motion Analysis in Real Time.
Image Processing II. Proceedings of SPIE Topical Conference on Image Processing, Hamburg, 1988.
(1988).
Methods for Real-Time Motion Analysis.
Proc. 2nd Hungarian Workshop on Image Analysis.
(1988).
On Multi Scale Motion Analysis.
Proceedings fra NOBIM-konferansen 1988.
(1988).
On Token-Matching in Real-Time Motion Analysis.
Proc 4th BPRA.
Contact
- hichristensen@ucsd.edu
- 858-260-0570
- Franklin Antonio Hall, Rm 3307, UC San Diego, La Jolla, CA 92093
- Enter building and take elevator to 3rd floor
- By appointment
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