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This paper presents an experimental evaluation of different line extraction algorithms on 2D laser scans for indoor environment. Six popular algorithms in mobile robotics and computer vision are selected and tested. Experiments are performed on 100 real data scans collected in an office environment with a map size of 80m /spl times/ 50m. Several comparison(More)
Robots are rapidly evolving from factory workhorses to robot-companions. The future of robots, as our companions, is highly dependent on their abilities to understand, interpret and represent the environment in an efficient and consistent fashion, in a way that is comprehensible to humans. This paper is oriented in this direction. It suggests a hierarchical(More)
This paper presents a solution to the Simultaneous Localization and Mapping (SLAM) problem in the stochastic map framework based on the concept of the relative map. The idea consists in introducing a map state, which only contains relative quantities among the features invariant under shift and rotation. The estimation of this relative state is carried out(More)
Today, lightweight SLAM algorithms are needed in many embedded robotic systems. In this paper the orthogonal SLAM (OrthoSLAM ) algorithm is presented and empirically validated. The algorithm has constant time complexity in the state estimation and is capable to run real-time. The main contribution resides in the idea of reducing the complexity by means of(More)
We consider Distributed Constraint Satisfaction Problems (DisCSP) when control of variables and constraints is distributed among a set of agents. This paper presents a distributed version of the centralized BackJumping algorithm, called the Dynamic Distributed BackJumping DDBJ algorithm. The advantage is twofold: DDBJ inherits the strength of synchronous(More)
Embedded screen-camera communication techniques encode information in screen imagery that can be decoded with a camera receiver yet remains unobtrusive to the human observer. These techniques have applications in tagging content on screens similar to QR-code tagging for other objects. This paper characterizes the design space for flicker-free embedded(More)
This paper presents an experimental evaluation of a plane extraction method using various line extraction algorithms. Four different algorithms are chosen, which are well known in mobile robotics and computer vision. Experiments are performed on two sets of 25 range images either obtained by simulation or acquired by a proprietary 3D laser scanner. The(More)
Simple, fast and lightweight SLAM algorithms are necessary in many embedded robotic systems which soon will be used in houses and offices in order to do various service tasks. In this paper the Orthogonal SLAM algorithm is presented as an answer to this need. In continuation of our previous work, the algorithm is extended to generate 3D maps and empirically(More)
This paper discusses a base UML profile for architecture description as supported by existing Architecture Description Languages (ADLs). The profile may be extended so as to enable architecture modeling both as expressed in conventional ADLs and according to existing runtime infrastructures (e.g., system based on middleware architectures).