Mihai Jalobeanu

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Robot navigation is one of the most studied problems in robotics and the key capability for robot autonomy. Navigation techniques have become more and more reliable, but evaluation mainly fo-cused on individual navigation components (i.e., mapping, localization, and planning) using datasets or simulations. The goal of this paper is to define an experimental(More)
We propose a method for evaluating the localization accuracy of an indoor navigation system in arbitrarily large environments. Instead of using externally mounted sensors, as required by most ground-truth systems, our approach involves mounting only landmarks consisting of distinct patterns printed on inexpensive foam boards. A pose estimation algorithm(More)
Practical mapping and navigation solutions for large indoor environments continue to rely on relatively expensive range scanners, because of their accuracy, range and field of view. Microsoft Kinect on the other hand is inexpensive, is easy to use and has high resolution, but suffers from high noise, shorter range and a limiting field of view. We present a(More)
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