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Navigation in unknown or partially unknown environments remains one of the biggest challenges in today's mobile robotics. Environmental modeling, perception, localization and mapping are all needed for a successful approach. The contribution of this paper ...
After a quarter century of mobile robot research, applications of this fascinating technology appear in real-world settings. Some require operation in environments that are densely cluttered with moving obstacles. Public mass exhibitions or conventions are ...
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 ...
This paper presents a localization algorithm for indoor environments. The environmental model is topological and the approach describes how a multimodal perception increases the reliability for the topological localization problem for mobile robots, by usi ...
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 presents an approach to solve the SLAM problem in the stochastic map framework based on the concept of the relative map. The idea consists in introducing a map state, which only contains quantities invariant under translation and rotation. This ...
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 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 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 ...
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 ...
