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A Comparison of Line Extraction Algorithms using 2D Laser Rangefinder for Indoor Mobile Robotics

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Unified mechanistic multiscale mapping of two-phase flow patterns in microchannels

John Richard Thome, Rémi Revellin, Iztok Zun

To better understand the underlying two-phase phenomena and thus better predict transitions between the various two-phase flow patterns, it is necessary to update our way of thinking from one-of-a-kind flow pattern maps of limited applicability to a genera ...

Elsevier2013

Stochastic Source Seeking by Mobile Robots

Mahmut Selman Sakar

We consider the problem of designing controllers to steer mobile robots to the source (the minimizer) of a signal field. In addition to the mobility constraints, e.g., posed by the nonholonomic dynamics, we assume that the field is completely unknown to th ...

Institute of Electrical and Electronics Engineers2012

The Robot Vision Track at ImageCLEF 2010

Barbara Caputo, Marco Fornoni

This paper describes the robot vision track that has been proposed to the ImageCLEF 2010 participants. The track addressed the problem of visual place classification, with a special focus on generalization. Participants were asked to classify rooms and are ...

2010

A realistic benchmark for visual indoor place recognition

Barbara Caputo

An important competence for a mobile robot system is the ability to localize and perform context interpretation. This is required to perform basic navigation and to facilitate local specific services. Recent advances in vision have made this modality a via ...

2010

A Multi Cue Discriminative Approach to Semantic Place Classification

Barbara Caputo, Marco Fornoni, Jesús Martínez Gómez

This paper describes the participation of Idiap-MULTI to the Robot Vision Task at imageCLEF 2010. Our approach was based on a discriminative classification algorithm using multiple cues. Specically, we used an SVM and combined up to four different histogra ...

2010

Indoor Navigation Research with the Khepera III Mobile Robot: An Experimental Baseline with a Case-study on Ultra-wideband Positioning

Alcherio Martinoli, Alexander Bahr, Amanda Stella Markowska Prorok, John Farserotu, Adrian Arfire

Recent substantial progress in the domain of indoor positioning systems and a growing number of indoor location-based applications are creating the need for systematic, efficient, and precise experimental methods able to assess the localization and perhaps ...

2010

View-Based Maps

Pascal Fua, Vincent Lepetit, Michael Calonder

Robotic systems that can create and use visual maps in realtime have obvious advantages in many applications, from automatic driving to mobile manipulation in the home. In this paper we describe a mapping system based on retaining views of the environment ...

2009

Feature-based SLAM using relative quantities and structural knowledge

This thesis is about feature-based mobile robot navigation in unknown environments. The work is focusing on solving the problem of Simultaneous Localization and Mapping (SLAM) including feature extraction, estimation and complete map building solution. The ...

EPFL2008

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

Results on Range Image Segmentation for Service Robots

Roland Siegwart

This paper presents an experimental evaluation of a plane extraction method using various line extraction algorithms. Four different algorithms are chosen, which are well known in mobile robotics and computer vision. Experiments are performed on two sets o ...

2006