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Many algorithms related to localization need good pose prediction in order to produce accurate results. This is especially the case for data association algorithms, where false feature matches can lead to the localization system failure. In rough terrain, ...
In this paper, we introduce Bayesian networks architecture for combining speech-based information with that from another modality for error handling in human-robot dialogue system. In particular, we report on experiments interpreting speech and laser scann ...
This paper proposes an approach allowing topology learning and recognition in indoor environments by using a probabilistic approach called Bayesian Programming. The main goal of this approach is to cope with the uncertainty, imprecision and incompleteness ...
This paper presents a method for probabilistic plane fitting and an application to robotic 3D mapping. The plane is fitted in an orthogonal least-square sense and the output complies with the conventions of the Symmetries and Perturbation model (SPmodel). ...
This paper addresses the problem of the odometry error estimation during the robot navigation. The robot is equipped with an external sensor (like laser range finder). Concerning the systematic error an augmented Kalman Filter is introduced. This filter es ...
In this paper a hierarchical multi-resolution approach allowing for high precision and distinctiveness is presented. The method combines topological and metric paradigm. The metric approach, based on the Kalman Filter, uses a new concept to avoid the probl ...
This paper describes an algorithm for generating compact feature-based 3D models of indoor environments with a mobile robot. The emphasis lies on the high performance of the algorithm, its possible incremental use, as well as its wide applicability to a va ...
In this paper simultaneous localization and map building is performed with a hybrid, metric - topological, approach. A global topological map connects local metric maps, allowing a compact environment model, which does not require global metric consistency ...
This paper presents a novel scheme for fast color invariant ball detection in the RoboCup context. Edge filtered camera images serve as an input for an Ada Boost learning procedure that constructs a cascade of classification and regression trees (CARTs). Our ...
This paper presents the design of an autonomous mobile platform and its security system. The MB835 mobile platform has been adopted for RoboX, a fully autonomous tour guide robot. In 2002, 11 of these tour guides have served the Robotics exhibition at Expo ...
