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Improving the Consistency of Relative Map
(2006)2006 IEEE/RSJ International Conference on Intelligent Robots and SystemsIn this paper, the independence relative map algorithm is presented. The algorithm aims to achieve the independence of relative map states. We show that using dependent relative quantities from the same observation creates a bias to the state covariance matrix, leading to an inaccurate and inconsistent relative map. Having independent map states improves the map consistency. Two case studies are presented in which we apply the proposed ...Conference Paper -
SLAM with corner features based on a relative map
(2004)Proceedings of the 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)Conference Paper -
Simultaneous Localization and Odometry Calibration for Mobile Robot
(2003)Proceedings. 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2003), October 27-31, 2003, Las Vegas, NevadaConference Paper -
Multi-Robot Localization Using Relative Observations
(2005)Proceedings of the 2005 IEEE International Conference on Robotics and Automation, ICRAConference Paper -
A comparison of line extraction algorithms using 2D laser rangefinder for indoor mobile robotics
(2005)2005 IEEE/RSJ International Conference on Intelligent Robots and SystemsConference Paper -
Observability Analysis for Mobile Robot Localization
(2005)Intelligent Robots and Systems, 2005. (IROS 2005). 2005 IEEE/RSJ International Conference onConference Paper -
Observability Properties and Optimal Trajectories for On-line Odometry Self-Calibration
(2006)IEEE Conference on Decision and Control ~ Proceedings of the 45th IEEE Conference on Decision and Control : San Diego, CA, December 13-15, 2006Conference Paper -
Theoretical Results on On-line Sensor Self-Calibration
(2006)2006 IEEE/RSJ International Conference on Intelligent Robots and SystemsIn this paper we derive theoretical results for the problem of on-line sensor calibration for a mobile robot. We consider the case of the odometry sensor. A first series of results regards the problem of understanding if a given system (consisting of a robot with several sensors) contains the necessary information to perform the on-line self calibration of one of its sensors. We consider several cases corresponding to different odometry ...Conference Paper -
SFly: Swarm of micro flying robots
(2012)2012 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2012)The SFly project is an EU-funded project, with the goal to create a swarm of autonomous vision controlled micro aerial vehicles. The mission in mind is that a swarm of MAV's autonomously maps out an unknown environment, computes optimal surveillance positions and places the MAV's there and then locates radio beacons in this environment. The scope of the work includes contributions on multiple different levels ranging from theoretical ...Conference Paper -
A toolbox for easily calibrating omnidirectional cameras
(2006)2006 IEEE/RSJ International Conference on Intelligent Robots and SystemsIn this paper, we present a novel technique for calibrating central omnidirectional cameras. The proposed procedure is very fast and completely automatic, as the user is only asked to collect a few images of a checker board, and click on its corner points. In contrast with previous approaches, this technique does not use any specific model of the omnidirectional sensor. It only assumes that the imaging function can be described by a Taylor ...Conference Paper