Concept

Robotic mapping

Publications associées (143)

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

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

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

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

Indoor Navigation Enhanced by Map-Matching

Pierre-Yves Gilliéron, Bertrand Merminod

In this paper, we present the development and the implementation of algorithms to access map databases by a user equipped with a pedestrian navigation system. ...

2005

An Integrated Approach to Real-Time Mobile Robot Control in Partially Known Indoor Environments

In this paper we present a navigation method for mobile robots in partially known indoor environments based on integration of graph based search algorithms and dynamic window local obstacle avoidance method. With the attention on a dynamic environment thre ...

2005

Evaluation of Multiple Cues Head Pose Tracking Algorithm in Indoor Environments

Jean-Marc Odobez, Silèye Oumar Ba

Head pose estimation is a research area which has many applications, e.g. in human computer interfaces design or in the analysis of people's focus-of-attention. The paper addresses the issue of head pose estimation, and makes two contributions. First it in ...

2005

Evaluation of Multiple Cues Head Pose Tracking Algorithm in Indoor Environments

Jean-Marc Odobez, Silèye Oumar Ba

2005

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

Roland Siegwart, Jan Weingarten

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). ...

2004

Topological Global Localization and Mapping with Fingerprint and Uncertainty

Roland Siegwart, Nicola Tomatis, Adriana Tapus

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 ...

2004

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

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