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Motion planning in the presence of moving obstacles using RRT search and B-splines
(2009)IFAC Proceedings Volumes ~ 8th IFAC Symposium on Robot ControlThis paper addresses the problem of path planning of mobile robots in dynamic environments. A collision-free trajectory of the robot is generated in the presence of moving obstacles that is three times differentiable and enables direct derivation of kinematic level controls for the robot. A chained form decomposition and state transformation for a geometric and time criterion of collision avoidance is based on an approach where closed-form ...Conference Paper -
Medial Features for Superpixel Segmentation
(2009)Proceedings of the IAPR Conference on Machine Vision Applications (MVA)Conference Paper -
Foldable Magnetic Wheeled Climbing Robot for the Inspection of Gas Turbines
(2009)Conference Paper -
Real-time monocular visual odometry for on-road vehicles with 1-point RANSAC
(2009)2009 IEEE International Conference on Robotics and AutomationThis paper presents a system capable of recovering the trajectory of a vehicle from the video input of a single camera at a very high frame-rate. The overall frame-rate is limited only by the feature extraction process, as the outlier removal and the motion estimation steps take less than 1 millisecond with a normal laptop computer. The algorithm relies on a novel way of removing the outliers of the feature matching process.We show that ...Conference Paper -
Object Classification based on a Geometric Grammar with a Range Camera
(2009)2009 IEEE International Conference on Robotics and AutomationThis paper proposes an object classification framework based on a geometric grammar aimed for mobile robotic applications. The paper first discusses the geometric grammar as a compact representation form for object categories with primitive parts as its constituent elements. The paper then discusses the object classification implemented as parsing of primitive parts. In particular, two approaches are discussed that constrain the search ...Conference Paper -
Closing the Loop in Appearance-Guided Structure-from-Motion for Omnidirectional Cameras
(2008)Conference Paper -
Information Relative Map Going toward Constant Time SLAM
(2008)Springer Tracts in Advanced Robotics ~ European Robotics Symposium 2008Conference Paper -
Safe Vehicle Navigation in Dynamic Urban Scenarios
(2008)2008 11th International IEEE Conference on Intelligent Transportation Systems (ITSC)Conference Paper -
Path following for autonomous vehicle navigation with inherent safety and dynamics margin
(2008)2008 IEEE Intelligent Vehicles SymposiumThis paper addresses the path following problem for autonomous Ackermann-like vehicle navigation. A control strategy that takes into account both kinodynamic and configuration space constraints of the vehicle, denoted as traversability-anchored dynamic path following (TADPF) controller is presented. It ensures secure vehicle commands in presence of obstacles, based on traversability information given by a global navigation function. By ...Conference Paper -
A Tale of Two Object Recognition Methods for Mobile Robots
(2008)Lecture Notes in Computer Science ~ Computer vision systems : 6th international conference : proceedingsConference Paper