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The Accuracy on the Parameter Estimation of an Odometry System of a Mobile Robot

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Theoretical Results on On-line Sensor Self-Calibration

Roland Siegwart, Jan Weingarten

In this paper we derive theoretical results for the problem of on-line sensor calibration for a mobile robot. We consider the case of the odometry sensor. A first series of results regards the problem of understanding if a given system (consisting of a rob ...

2006

Robot Navigation by Panoramic Vision and Attention Guided Features

Roland Siegwart, Heinz Hügli, Adriana Tapus, Alexandre Bur

In visual-based robot navigation, panoramic vision emerges as a very attractive candidate for solving the localization task. Unfortunately, current systems rely on specific feature selection processes that do not cover the requirements of general purpose r ...

2006

3D SLAM using Planar Segments

Roland Siegwart, Jan Weingarten

This paper presents an improved feature-based 3D SLAM approach for a mobile robot equipped with a rotating laser scanner. The features are represented within the SPmodel, with associated planar segment information based on decimated triangle sets. An Exten ...

2006

Precise Bearing Angle Measurement Based on Omnidirectional Conic Sensor and Defocusing

Roland Siegwart, Davide Scaramuzza

Recent studies on multi-robot localization have shown that the uncertainty of robot location may be considerably reduced by optimally fusing odometry and the relative angles of sight (bearing) among the team members. However, the latter requires the capabi ...

2005

Toward a person-follower robot

Solaiman Shokur

In this article we described the attempt to build a robot able to locate and follow an human target moving in a domestic environment. After a brief review of the state of the art in relative location technologies, we described our approach that aims to dev ...

Amedeo Cesta2005

Multi-Robot Localization Using Relative Observations

Roland Siegwart, Frédéric Pont

In this paper we consider the problem of simultaneously localizing all members of a team of robots. Each robot is equipped with proprioceptive sensors and exteroceptive sensors. The latter provide relative observations between the robots. Proprioceptive an ...

2005

EKF-based 3D SLAM for Structured Environment Reconstruction

Roland Siegwart, Jan Weingarten

This paper presents the extension and experimental validation of the widely used EKF1-based SLAM2 algorithm to 3D space. It uses planar features extracted probabilistically from dense three-dimensional point clouds generated by a rotating 2D laser scanner. ...

2005

A Humanoid Robot Drawing Human Portraits

Aude Billard, Sylvain Calinon

This paper presents the creation of a robot capable of drawing artistic portraits. The application is purely entertaining and based on existing tools for face detection and image reconstruction, as well as classical tools for trajectory planning of a 4 DOF ...

2005

The “Caddie Paradigm”: a free-Locomotion Interface for Teleoperation

Daniel Thalmann, Frédéric Vexo

This paper presents the “caddie paradigm” a new interface for teleoperation of mobile robots. We present a prototype based on the use of a treadmill as a free-locomotion interface. The “caddie paradigm” allows for controlling a real robot by “pushing” its ...

2005

A Control Method for Stable and Smooth Path Following of Mobile Robots

Roland Siegwart

This paper addresses the problem of mobile robot navigation in indoor cluttered environments. A new algorithm for both longitudinal and lateral real-time control of wheel-based mobile robots has been proposed. Its main characteristic is smooth and stable f ...

2005