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Probabilistic Plane Fitting in 3D and an Application to Robotic Mapping

Related publications (36)

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Development of a robotic mobile mapping system by vision-aided inertial navigation

Fadi Atef Bayoud

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 ...

EPFL2006

Feature-based 3D SLAM

Jan Weingarten

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 ...

EPFL2006

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

Topological SLAM

Adriana Tapus

This thesis is about topological navigation, more precisely about space representation, perception, localization and mapping. All these elements are needed in order to obtain a robust and reliable framework for navigation. This is essential in order to mov ...

EPFL2005

Photobus: Towards Real-Time Mapping

Jan Skaloud, Pierre-Yves Gilliéron, Hervé Gontran

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. ...

2004

A Fast and Robust 3D Feature Extraction Algorithm for Structured Environment Reconstruction

Roland Siegwart, Jan Weingarten

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 ...

2003

Some Experiences on Dynamic Memory Management Refinement at System-Level for Multimedia Applications

David Atienza Alonso

Nowadays, 3D multimedia applications have grown rapidly in number and consist of complex systems (e.g. 3D graphical processing or games) that process extensive amounts of data to create 3D images and results. This produces highcost and high-power consumpti ...

University of Castilla La Mancha2003

Hybrid Simultaneous Localization and Map Building: Closing the Loop with Multi-Hypotheses Tracking

Roland Siegwart, Nicola Tomatis

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 ...

2002

Splines and wavelets for image warping and projection

Stefan Horbelt

This thesis investigates advanced signal processing concepts and their application to geometric processing and transformations of images and volumes. In the first part, we discuss the class of transformations that project volume data onto a plane using par ...

EPFL2001

Web Interfacing for Task Supervision and Specification

Nicola Tomatis

The Autonomous Systems Lab at the Swiss Federal Institute of Technology Lausanne (EPFL) is engaged in mobile robotics research. The labs research focuses mainly on indoor localization and map building, outdoor locomotion and navigation, and micro mobile r ...

2001