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Adam Jacobson

Contact Details

Adam Jacobson | PhD Candidate | School of Electrical Engineering and Computer Science
Science and Engineering Faculty | Queensland University of Technology
Gardens Point, S Block 1107 | 2 George Street, Brisbane, QLD 4000
Email: adam.jacobson@connect.qut.edu.au 

Supervisors

Principal Supervisor: Dr. Michael Milford

Associate Supervisor: Prof. Gordon Wyeth

Research Project - Brain Based Sensor Fusion for Navigating Robots

I am a PhD student at the CyPhy Lab, Queensland University of Technology. I am developing biologically inspired, multi-sensor fusion techniques to enable “out of the box” robot mapping and navigation operation in any environment on any robot platform and with any sensor suite. My research focuses on developing a biologically inspired framework for incorporating multiple sensing modalities into the RatSLAM navigation system, enabling the dynamic evaluation of sensor reliability. I have already developed movement behaviours based on newborn rodent warm-up movements that enable calibration of robots in multiple environments. I have also developed novel bio-inspired techniques for fusing alternative sensor modalities such as Microsoft Kinects, thermal cameras and Wi-Fi sensors in order to enable robot and personal navigation.

Research Platforms

 

Adept MobileRobotics Pioneer 3DX fitted with Sick Laser Scanner, Microsoft Kinect and Sonar Range Finders

Adept MobileRobotics Pioneer 3DX fitted with Sick Laser Scanner, Microsoft Kinect, Sonar Range Finders and Firewire PointGrey Camera utilising a Catadioptric mirror

High-Speed Data Acquisition Platform fitted with 2 web-cameras, Hokuyo Laser Range Finder and an Optris Thermal Camera.

 

Complete Publication List

Journal Papers

1)     A. Jacobson, Z. Chen and M. Milford, “Autonomous Multi-Sensor Calibration and Closed Loop Fusion for SLAM”,  (ACCEPTED) Journal of Field Robotics, 2013

Conference Papers

1)    R. Berkvens, A. Jacobson, M. Milford, H. Peremans and M. Weyn, “Fusing Wi-Fi and Camera Information Using RatSLAM”, (UNDER REVIEW) in IEEE International Conference on Robotics and Automation, Hong Kong, China, 2014.

2)    Zetao Chen, Adam Jacobson, Ugur M. Erdem, Michael E. Hasselmo and Michael Milford, " Multi-scale Bio-inspired Place Recognition ", (UNDER REVIEW) in IEEE International Conference on Robotics and Automation, Hong Kong, China, 2014

3)    Zetao Chen, Adam Jacobson, Ugur M. Erdem, Michael E. Hasselmo and Michael Milford, " Bio-inspired Place Recognition over Multiple Spatial Scales ", (UNDER REVIEW) to the Australasian Conference on Robotics and Automation, Sydney, Australia, 2013.

4)    A. Jacobson, Z. Chen and M. Milford, "Autonomous Movement-Driven Place Recognition Calibration for Generic Multi-Sensor Robot Platforms",in IEEE/RSJ International Conference on Intelligent Robots and Systems, Tokyo, Japan, 2013.

5)    M. Milford and A. Jacobson, "Brain-Inspired Sensor Fusion for Navigating Robots" in IEEE International Conference on Robotics and Automation, Karlsruhe, Germany, 2013

6)    M. Milford, A. Jacobson, G. Wyeth, "Using Performance-Based Evaluation to Close the Loop between Biological and Robotic Navigation", in proceedings of the Workshop on Unconventional Approaches to Robotics, Automation and Control Inspired by Nature at the IEEE International Conference on Robotics and Automation, Karlsruhe, Germany, 2013

7)    M. Milford, A. Jacobson, " Calibration and Continual Weighting of Multisensory Input for Lifelong Robot Mapping and Navigation", in Workshop on Long-Term Autonomy at the IEEE International Conference on Robotics and Automation, Karlsruhe, Germany, 2013

8)    A. Jacobson and M. Milford, “Towards Brain-based Sensor Fusion for Navigating Robots,” in Australasian Conference on Robotics and Automation, Wellington, New Zealand, 2012.

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