Index of /~stober/FSS_ML

 Name                    Last modified      Size  Description
 Parent Directory                             -   
 avoid.log               26-Oct-2009 12:00  273K  
 camera.py               03-Nov-2009 17:55  5.8K  
 camera_large.dat        26-Oct-2009 12:11  2.5M  
 random.log              26-Oct-2009 12:00  298K  
 scene.pgm               03-Nov-2009 17:57  415K  
 simluted_trace.dat      03-Nov-2009 17:43  9.0M  
 simple.log              26-Oct-2009 12:00  257K  
 stoberFSS09.pdf         14-Sep-2009 13:25  1.5M  
 stoberFSS09_slides.pdf  06-Nov-2009 09:19  3.3M  
 wandering.dat           26-Oct-2009 12:04  9.9M  

RELEASE 0.1 11/6/2009
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This directory contains both simulated and real robot traces used in the following paper:

Jeremy Stober, Lewis Fishgold, and Benjamin Kuipers. 2009. Sensor Map Discovery for Developing Robots. AAAI Fall Symposia Series: Manifold Learning and Its Applications.

CONTENTS
--------

The following three traces were used to generate the results in section on "Policies and Reconstruction Error."
 
simple.log
avoid.log
random.log

The simulated data used in reconstruction experiments is found in the following trace:

simulated_trace.dat

The roving eye trace data is found in the following trace:

camera_large.dat

The sensor trace taken from a real Pioneer robot with laser and sonar sensors in also included:

wandering.dat

The simulated data was generated using PyRobot but can be easily generated using Player/Stage directly. Source files for trace simulation are not yet included due to all the dependencies.

Code for simulating the roving eye is included: 

camera.py 

See the source code for details for how to run this program. We used scene.pgm as the source image.