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

Publications associées (50)

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Laplacian sheep: a hybrid, stop-go policy for leader-based containment control

Giancarlo Ferrari Trecate, Annalisa Buffa

The problem of driving a collection of mobile robots to a given target location is studied in the context of partial difference equations. In particular, we are interested in achieving this transfer while ensuring that the agents stay in the convex polytop ...

Springer2006

3D SLAM using Planar Segments

Roland Siegwart, Jan Weingarten

This paper presents an improved feature-based 3D SLAM approach for a mobile robot equipped with a rotating laser scanner. The features are represented within the SPmodel, with associated planar segment information based on decimated triangle sets. An Exten ...

2006

A Topological Treatment of Early-Deciding Set-Agreement

Rachid Guerraoui, Bastian Pochon

This paper considers the k-set-agreement problem in a synchronous message passing distributed system where up to t processes can fail by crashing. We determine the number of communication rounds needed for all correct processes to reach a decision in a giv ...

2006

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

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

Roland Siegwart, Nicola Tomatis

This paper presents an experimental evaluation of different line extraction algorithms on 2D laser scans for indoor environment. Six popular algorithms in mobile robotics and computer vision are selected and tested. Experiments are performed on 100 real da ...

2005

Handling the Inconsistency of Relative Map Filter

Roland Siegwart

In \cite{martinelli_2004_open_challenges_in}, a version of Relative Map Filter (\RMF) is proposed to solve the simultaneous localization and map building (SLAM) problem. In the \RMF, the map states contain only quantities invariant under shift and rotat ...

2005

Bayesian Programming for Topological Global Localization with Fingerprints

Roland Siegwart, Adriana Tapus

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 ...

2004

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

On the geometry of simple closed geodesics

Hugo Parlier

The leitmotif of this dissertation is the search for length formulas and sharp constants in relation with simple closed geodesics on hyperbolic compact Riemann surfaces. The main tools used are those of hyperbolic trigonometry, topological properties of si ...

EPFL2004

Hybrid Simultaneous Localization and Map Building: a Natural Integration of Topological and Metric

Roland Siegwart, Nicola Tomatis

In this paper the metric and topological paradigms are integrated in a hybrid system for both localization and map building. A global topological map connects local metric maps, allowing a compact environment model, which does not require global metric con ...

2003