Håkan Fredriksson

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A novel and effective method denoted circle sector expansion (CSE) is presented that can be used to generate reduced Voronoi diagrams. It is intuitive and can be used to efficiently compute possible paths for a vehicle. The idea is to model free space instead of the features in the environment. It is easy to implement and can be used while a vehicle moves(More)
In its current form, the white cane has been used by visually impaired people for almost a century. It is one of the most basic yet useful navigation aids, mainly because of its simplicity and intuitive usage. For people who have a motion impairment in addition to a visual one, requiring a wheelchair or a walker, the white cane is impractical, leading to(More)
We present a novel method for the localization of an autonomous vehicle in two dimensions. Instead of focussing on properties of obstacles, we emphasize the description of free-space. We introduce the concept of signature graphs which is a compact data structure describing available free-space of an environment. It therefore also represents a map of the(More)
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