Annalisa Milella

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In this paper, we present a stereovision algorithm for real-time 6DoF ego-motion estimation, which integrates image intensity information and 3D stereo data in the well-known Iterative Closest Point (ICP) scheme. The proposed method addresses a basic problem of standard ICP, i.e. its inability to perform the segmentation of data points and to deal with(More)
Passive RFID provides an inexpensive and effective support to basic mobile robot navigation tasks. Nonetheless, problems related to interference and reflections of the signal, and missing tag range and bearing information are open. In this paper, we present a novel method to estimate the bearing of a passive tag relative to a mobile robot equipped with RFID(More)
Radio Frequency Identification (RFID) is being increasingly used as an augmentation technology in the domain of environment mapping and ubiquitous computing. In this paper, we present a novel method for localizing RFID tags embedded in indoor environments, by using a mobile robot equipped with RF antennas and reader, and a laser range finder. First, a model(More)
Passive Radio Frequency Identification (RFID) is being increasingly used in mobile robotics applications, as it provides inexpensive and effective solutions to data association issues in basic navigation tasks. Nonetheless, problems related to sensitivity of the signal to interference and reflections, and missing tag range and bearing information are open.(More)
The development of intelligent surveillance systems is an active research area. In this context, mobile and multi-functional robots are generally adopted as means to reduce the environment structuring and the number of devices needed to cover a given area. Nevertheless, the number of different sensors mounted on the robot, and the number of complex tasks(More)
Autonomous driving is a challenging problem, particularly when the domain is unstructured, as in an outdoor agricultural setting. Thus, advanced perception systems are primarily required to sense and understand the surrounding environment recognizing artificial and natural structures, topology, vegetation and paths. In this paper, a self-learning framework(More)
External perception based on vision plays a critical role in developing improved and robust localization algorithms, as well as gaining important information about the vehicle and the terrain it is traversing. This paper presents two novel methods for rough terrain-mobile robots, using visual input. The first method consists of a stereovision algorithm for(More)
Autonomous driving is a challenging problem in mobile robotics, particularly when the domain is unstructured, as in an outdoor setting. In addition, field scenarios are often characterized by low visibility as well, due to changes in lighting conditions, weather phenomena including fog, rain, snow and hail, or the presence of dust clouds and smoke. Thus,(More)