Learn More
— In 2006, Olson et al. presented a novel approach to address the graph-based simultaneous localization and mapping problem by applying stochastic gradient descent to minimize the error introduced by constraints. Together with multi-level relaxation, this is one of the most robust and efficient maximum likelihood techniques published so far. In this paper,(More)
— Learning maps is one of the fundamental tasks of mobile robots. In the past, numerous efficient approaches to map learning have been proposed. Most of them, however, assume that the robot lives on a plane. In this paper, we consider the problem of learning maps with mobile robots that operate in non-flat environments and apply maximum likelihood(More)
With a growing number of robots deployed in populated environments, the ability to detect and track humans, recognize their activities, attributes and social relations are key components for future service robots. In this article we will consider fundamentals towards these goals and present several results using 2D range data. We first propose a learning(More)
— We present an approach to laser-based people tracking using a multi-hypothesis tracker that detects and tracks legs separately with Kalman filters, constant velocity motion models, and a multi-hypothesis data association strategy. People are defined as high-level tracks consisting of two legs that are found with little model knowledge. We extend the data(More)
— Place recognition, i.e., the ability to recognize previously seen parts of the environment, is one of the fundamental tasks in mobile robotics. The wide range of applications of place recognition includes localization (determine the initial pose), SLAM (detect loop closures), and change detection in dynamic environments. In the past, only relatively(More)
Simultaneous Localization and Mapping (SLAM) is one of the classical problems in mobile robotics. The task is to build a map of the environment using on-board sensors while at the same time localizing the robot relative to this map. Rao-Blackwellized particle filters have emerged as a powerful technique for solving the SLAM problem in a wide variety of(More)
— Recently there has been increasing research on the development of autonomous flying vehicles. Whereas most of the proposed approaches are suitable for outdoor operation, only a few techniques have been designed for indoor environments. In this paper we present a general system consisting of sensors and algorithms which enables a small sized flying vehicle(More)
—Recently there has been an increased interest in the development of autonomous flying vehicles. Whereas most of the proposed approaches are suitable for outdoor operation, only a few techniques have been designed for indoor environments, where the systems cannot rely on GPS and therefore have to use their exteroceptive sensors for navigation. In this paper(More)
— In this paper, we address the problem of learning 3D maps of the environment using a cheap sensor setup which consists of two standard web cams and a low cost inertial measurement unit. This setup is designed for lightweight or flying robots. Our technique uses visual features extracted from the web cams and estimates the 3D location of the landmarks via(More)
—We present a novel approach to incrementally determine the trajectory of a person in 3D based on its motions and activities in real-time. In our algorithm, we estimate the motions and activities of the user given the data obtained from a motion capture suit equipped with several inertial measurement units (IMUs). These activities include walking up and(More)