Potential mapping permits an early detection of corrosion and has major advantages over a purely visual condition assessment. The current manner of assessing the corrosion state of reinforced concrete structures with potential mapping is limited due to the lack of accessibility, leading to high involvement of manpower and finally to high inspection costs. A main challenge in the coming decades will be the assessment of our ageing ...

Collecting 3D object data sets involves a large amount of manual work and is time consuming. Getting complete models of objects either requires a 3D scanner that covers all the surfaces of an object or one needs to rotate it to completely observe it. We present a system that incrementally builds a database of objects as a mobile agent traverses a scene. Our approach requires no prior knowledge of the shapes present in the scene. Object-like ...

In this paper, we present a versatile framework to enable autonomous flights of a Micro Aerial Vehicle (MAV) which has only slow, noisy, delayed and possibly arbitrarily scaled measurements available. Using such measurements directly for position control would be practically impossible as MAVs exhibit great agility in motion. In addition, these measurements often come from a selection of different onboard sensors, hence accurate calibration ...

In this paper, we address the problem of curb detection for a pedestrian robot navigating in urban environments. We devise an unsupervised method that is mostly view-independent, makes no assumptions about the environment, restricts the set of hand-tuned parameters, and builds on sound probabilistic reasoning from the input data to the outcome of the algorithm. In our approach, we construct a piecewise planar model of the environment and ...