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With the development of robotic technology, smart home system becomes more and more popular in metropolitan area. Among all kinds of household devices, cleaning robot has been researched for many years and become a necessary element in smart home system. So far, Commercial cleaning robots for household usage have been available on the market for decades. However, there are still some critical problems...
The paper Automatic visual bag-of-words for online robot navigation and mapping by T. Nicosevici and R. Garcia (IEEE Trans. Robot., vol. 28, no. 4, pp. 886898, Aug. 2012) proposed an algorithm for robot navigation and mapping. In this paper, we correct some errors in their analysis.
Legged robots have different terrain traverse capabilities with ground vehicles. They can across steps and grooves, which are obstacles for ground vehicles. Some new challenges are posed for autonomous legged robot navigation in complex environments. In this paper, we present a Kinect based real time obstacle detection algorithm for legged robots. A graph based method is used to label all traversable...
Fiber Optic Gyro (FOG) based on the Sagnac effect is presently used in the Strapdown Inertial Navigation System (SINS) for its outstanding merits. However, the sensor errors of FOG still affect the accuracy of the whole system greatly. The gyro sensor errors consist of two parts: a deterministic part and a random part. The random part is basically due to the gyro random drift and primarily includes...
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