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VOCUS : A Visual Attention System for Object Detection and Goal-directed Search
The problem of Simultaneous Localization and Mappin g is addressed using a graphical method. The method has several advantages that will be explained. These in clude better linearizations and moreExpand
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Scan registration for autonomous mining vehicles using 3D-NDT
Scan registration is an essential sub-task when building maps based on range finder data from mobile robots. The problem is to deduce how the robot has moved between consecutive scans, based on theExpand
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Dynamic Maps for Long-Term Operation of Mobile Service Robots
This paper introduces a dynamic map for mobile robots that adapts continuously over time. It resolves the stability plasticity dilemma (the tradeoff between adaptation to new patterns andExpand
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A multilevel relaxation algorithm for simultaneous localization and mapping
This paper addresses the problem of simultaneous localization and mapping (SLAM) by a mobile robot. An incremental SLAM algorithm is introduced that is derived from multigrid methods used for solvingExpand
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A Practical Multirobot Localization System
We present a fast and precise vision-based software intended for multiple robot localization. The core component of the software is a novel and efficient algorithm for black and white patternExpand
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Fast, On-Line Learning of Globally Consistent Maps
To navigate in unknown environments, mobile robots require the ability to build their own maps. A major problem for robot map building is that odometry-based dead reckoning cannot be used to assignExpand
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Localization for Mobile Robots using Panoramic Vision, Local Features and Particle Filter
In this paper we present a vision-based approach to self-localization that uses a novel scheme to integrate feature-based matching of panoramic images with Monte Carlo localization. A speciallyExpand
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Building gas concentration gridmaps with a mobile robot
This paper addresses the problem of mapping the structure of a gas distribution by creating concentration gridmaps from the data collected by a mobile robot equipped with gas sensors. By contrast tExpand
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Learning globally consistent maps by relaxation
Mobile robots require the ability to build their own maps to operate in unknown environments. A fundamental problem is that odometry-based dead reckoning cannot be used to assign accurate globalExpand
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