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This paper describes a simultaneous localization and mapping (SLAM) algorithm for use in unstructured environments that is effective regardless of the geometric complexity of the environment. Features are described using B-splines as modeling tool, and the set of control points defining their shape is used to form a complete and compact description of the(More)
This paper presents a new exact maximum clique algorithm which improves the bounds obtained in state of the art approximate coloring by reordering the vertices at each step. Moreover the algorithm can make full use of bit strings to sort vertices in constant time as well as to compute graph transitions and bounds efficiently, exploiting 10 the ability of(More)
Guido is a healthcare robot that serves as support and navigation aid for the frail and visually impaired. The previous assistive navigation software has been replaced by a full map based control, including real time feature based map building (SLAM) and pose tracking (both using an EKF), and path planning and collision avoidance. Real experiments have been(More)
Guido, a smart walker developed by Haptica (Dublin, Ireland), is a robotic walking aid that addresses the needs of the frail visually impaired, providing them with a safe means of taking exercise independently as well as navigation assistance in new environments. It was based on a program of research in the Trinity College Dublin from 1995 to 2000. Many(More)
The problem of finding the optimal correspondence between two sets of geometric entities or features is known to be NP-hard in the worst case. This problem appears in many real scenarios such as fingerprint comparisons, image matching and global localization of mobile robots. The inherent complexity of the problem can be avoided by suboptimal solutions, but(More)
This paper presents an implementation of the local maps fusion concept for the simultaneous localization and mapping (SLAM) problem within the extended Kalman filter (EKF) framework. Several problems never addressed before, arise while implementing the solution for indoor environments, and are successfully solved to obtain maps of quite large real indoor(More)