B1;3201;0c Jared Glover - Publications
 





Press

 

A Pearl for the Elderly. Pittsburgh Post Gazette, 2004.

Better Robot Vision. MIT News, 2013

Papers

 

Bingham Procrustean Alignment for Object Detection in Clutter
Jared Glover and Sanja Popovic. (IROS 2013)

Tracking 3-D Rotations with the Quaternion Bingham Filter
Jared Glover and Leslie Pack Kaelbling. (Technical Report MIT-CSAIL-TR-2013-005, 2013)

Unsupervised Learning for Efficient Texture Estimation From Limited Discrete Orientation Data
Stephen Niezgoda and Jared Glover. (Metallurgical and Materials Transactions A, 2013)

Adaptating to Observable Changes: Lifelong Learning for Dynamic Robots
Jared Glover (Thesis Proposal, MIT CSAIL, 2012)

Monte Carlo Pose Estimation with Quaternion Kernels and the Bingham Distribution
Jared Glover, Gary Bradski and Radu Rusu. (RSS 2011) Best Student Paper Award -- Finalist

Paddle Trajectory Optimization for Table Tennis in 2-D
Jared Glover (6.832 Project, 2010)

Probabilistic Models of Object Geometry with Application to Grasping
Jared Glover, Daniela Rus and Nicholas Roy. (IJRR 2009)

Probabilistic Models of Object Geometry for Grasp Planning
Jared Glover, Daniela Rus and Nicholas Roy. (RSS 2008)

Probabilistic Procrustean Models for Shape Recognition with an Application to Robotic Grasping
Jared Glover (Master's Thesis, MIT CSAIL, 2008)

Robust Models of Object Geometry.
Jared Glover, Daniela Rus, Nicholas Roy, and Geoff Gordon. (IROS 2006 Workshop "From Sensors to Human Spatial Concepts")

Learning user models of mobility-related activities through instrumented walking aids
Jared Glover, Sebastian Thrun, and Judy Matthews. (ICRA 2004)

Robotic assistants for the elderly: Designing and conducting field studies.
J.T. Matthews, S.J. Engberg, J. Glover, M. Pollack, and S. Thrun. (Robotics and Applications 2004)

A robotically-augmented walker for older adults.
J. Glover, D. Holstius, M. Manojlovich, K. Montgomery, A. Powers, J. Wu, S. Kiesler, J. Matthews, and S. Thrun. (Technical Report CMU-CS-03-170, 2003).

Errata

 

In "Bingham Procrustean Alignment for Object Detection in Clutter" (IROS 2013):

  • On page 2, in figure 3, the law of cosines formula is missing a 2. (It should be d^2 = a^2 + b^2 - 2abcos(theta).) The same error appears in the text a few lines above. Note that equation 3 is still correct because the 2 cancels out with the 1/2 from the exponent of the normal distribition.

In "Unsupervised Learning for Efficient Texture Estimation From Limited Discrete Orientation Data" (2013):

  • In equation 3, "2 dot 1F1" should be replaced with "|S^d| dot 1F1", where |S^d| is the surface area of the unit d-sphere.

In "Tracking 3-D Rotations with the Quaternion Bingham Filter" (MIT-CSAIL-TR-2013-005):

  • In equations 4, 8, and 15, "2 dot 1F1" should be replaced with "|S^d| dot 1F1", where |S^d| is the surface area of the unit d-sphere.

In "Monte Carlo Pose Estimation with Quaternion Kernels and the Bingham Distribution" (RSS 2011):

  • In equation 9, "2 dot 1F1" should be replaced with "|S^d| dot 1F1", where |S^d| is the surface area of the unit d-sphere.