Roland Siegwart

Publications associées (72)

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Stereo-Based Ego-Motion Estimation Using Pixel Tracking and Iterative Closest Point

Roland Siegwart

In this paper, we present a stereovision algorithm for real-time 6DoF ego-motion estimation, which integrates normalized cross-correlation-based feature tracking and 3D stereo information in the well-known Iterative Closest Point (ICP) scheme. The proposed ...

2006

Towards a Cognitive Probabilistic Representation of Space for Mobile Robots

Roland Siegwart

Robots are rapidly evolving from factory workhorses to robot-companions . The future of robots, as our companions, is highly dependent on their abilities to understand, interpret and represent the environment in an efficient and consistent fashion, in a ...

2006

Robot-Animal Interaction: Perception and Behavior of Insbot

Roland Siegwart, Fabien Tâche, Masoud Asadpour, Gilles Caprari, Walter Karlen

This paper describes hardware and behavior implementation of a miniature robot in size of a match box that simulates the behavior of cockroaches in order to establish a social interaction with them. The robot is equipped with two micro-processors dedicated ...

2006

Improving the Consistency of Relative Map

Roland Siegwart

2006

The Hippocampal Place Cells and Fingerprints of Places: Spatial Representation Animals, Animats and Robots

Roland Siegwart, Adriana Tapus

2006

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 ...

2006

Design and Control of an Indoor Coaxial Helicopter

Roland Siegwart, Gilles Caprari, Samir Bouabdallah

This paper presents the design and preliminary control of an indoor coaxial helicopter �CoaX� based on a concept of hybrid active and passive control. The robot is capable of passive roll and pitch stabilization against small disturbances while a ...

2006

Simple Form Recognition using Bayesian Programming

Roland Siegwart, Adriana Tapus, Guy Ramel, François Aspert

The environment that surrounds us is very complex. Understanding and interpreting it is a very hard task. This paper proposes an approach allowing simple form recognition with a camera by using a probabilistic approach called Bayesian Programming. The main ...

2006

Motion Planning in the Presence of Moving Obstacles using RRT Search and B-splines

Roland Siegwart

2006

Automatic Self-Calibration of a Vision System during Robot Motion

Roland Siegwart, Davide Scaramuzza

This paper presents a new technique to estimate the extrinsic parameters of a robot-vision sensor system. More in general, this technique can be adopted to calibrate any robot bearing sensor. It is based on the Extended Kalman Filter. It is very simple and ...

2006

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