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This paper presents an experimental evaluation of different line extraction algorithms on 2D laser scans for indoor environment. Six popular algorithms in mobile robotics and computer vision are selected and tested. Experiments are performed on 100 real da ...
A new programmable neighborhood mechanism for the Winner Takes Most (WTM) self-organizing Kohonen map has been proposed in this paper. Described circuit is an asynchronous solution, which does not require the controlling clock generator. The winning neuron ...
This thesis inquires how map annotations can be used to sustain remote collaboration. Maps condense the interplay of space and communication, solving linguistic references by linking conversational content to the actual places to which it refers. This is a ...
This chapter describes an approach for indoor spatial representation, which is used to model the environment for the navigation of a fully autonomous robot. The metric and topological paradigms are integrated in a hybrid system for both localization and ma ...
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In this paper, we examined the effect of knowledge interdependence among co-learners on knowledge convergence outcomes. Prior to collaboration, two partners read the same text in the independent condition while each of them read one of two complementary te ...
In \cite{martinelli_2004_open_challenges_in}, a version of Relative Map Filter (\RMF) is proposed to solve the simultaneous localization and map building (SLAM) problem. In the \RMF, the map states contain only quantities invariant under shift and rotat ...
Navigation is usually associated with marine and aviation domains. Except for some lighthouses for orientation or landmarks near the coast, navigation instruments are essential because routes are virtual. Therefore, current position of ships and aircrafts ...
In this paper the metric and topological paradigms are integrated in a hybrid system for both localization and map building. A global topological map connects local metric maps, allowing a compact environment model, which does not require global metric con ...
The HELIMAP is a portable mapping system for quick helicopter deployment. It integrates high accuracy navigation sensors (GPS/INS) with Airborne Laser Scanner (ALS) and high-resolution digital (CCD) camera. This paper presents the system hardware and softw ...
This paper starts with a discussion of the open challenges in the SLAM problem. In our opinion they can be grouped in two main and distinct areas: convergence of the built map and computation requirement for real world application. To deal with the previou ...