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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 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 ...
The odometry error of a mobile robot contains both sys- tematic and non-systematic components. The first ones are independent of the environment while the second ones depend on the interaction of the robot with the environ- ment where the robot moves. In t ...
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 navigation framework which enables multiple mobile robots to attain individual goals, coordinate their actions and work safely and reliably in a highly dynamic environment. We give an overview of the framework architecture, its layeri ...
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 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 ...
The Geodetic Engineering Laboratory at EPFL has designed a mobile mapping system to determine the geometry of the road: the Photobus. This paper describes major steps that move the Photobus towards a real-time mapping system. ...
Motion detection from mobile platforms is a challenging task. It requires precise position information, which is difficult in cluttered dynamic environments. We combine motion detection and position estimation using Expectation Maximization. To reduce the ...
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 ...
