A realistic benchmark for visual indoor place recognition
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Robots are rapidly evolving from factory workhorses to robot-companions. The future of robots, as our companions, is highly dependent on their abilities to understand, interpret and represent the environment in an efficient and consistent fashion, in a ...
In this paper, we review half a century of research on the design of systems displaying (physical) self-assembly of macroscopic components. We report on the experience gained in the study of 22 such systems, exhibiting components ranging from passive mecha ...
In this paper, the problem of driving a collection of mobile robots to a given target destination is studied. In particular, we are interested in achieving this transfer in an orderly manner so as to ensure that the agents remain in the convex polytope spa ...
An important competence for a mobile robot system is the ability to localize and perform context interpretation. This is required to perform basic navigation and to facilitate local specific services. Usually localization is performed based on a purely geo ...
Fully autonomous control of ultra-light indoor airplanes has not yet been achieved because the strong limitations on the kind of sensors that can be embedded make it difficult to obtain good estimations of altitude. We propose to revisit altitude control b ...
Because of their excellent olfactory sense, dogs are often used to find bombs, mines, drugs, or people buried by avalanches. For such applications, autonomous mobile robots could be used in the future. Electronic sensors already exist for a wide variety of ...
This doctoral thesis deals with an open subproblem of robot navigation, namely simultaneous localization and mapping (SLAM) in three-dimensional space. The goal is to develop a system which is capable of localizing a mobile robot in a reliable way and at t ...
Mobile robots are gradually appearing in our daily environments. In order to autonomously navigate in real world environments and interact with objects and humans, robots are facing various major technological challenges. Among the required key competences ...
Vision-based inertial-aided navigation is gaining ground due to its many potential applications. In previous decades, the integration of vision and inertial sensors was monopolised by the defence industry due to its complexity and unrealistic economic burd ...
In this paper, we present a stereovision algorithm for real-time 6DoF ego-motion estimation, which integrates normalized cross-correlation-based feature tracking and 3D stereo information in the well-known Iterative Closest Point (ICP) scheme. The proposed ...
