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A method for segmenting three-dimensional data of underwater unstructured terrains is presented. The three-dimensional point clouds are converted to two-dimensional elevation maps and analyzed for segmentation in the frequency domain. The lower frequency components represent the slower varying undulations of the underlying ground. The cut-off frequency, below which the frequency components form the...
A method for detecting changes in the environment using only vision sensors is presented. We demonstrate that optical flow can be used to detect these changes at key locations in outdoor scenarios in difficult and varying lighting conditions. These key locations are used as nodes in a topological mapping and localization framework. To close the loop we employ a bag-of-words methodology. We show that...
A method for calculating visual odometry for ground vehicles with car-like kinematic motion constraints similar to Ackerman's steering model is presented. By taking advantage of this non-holonomic driving constraint we show a simple and practical solution to the odometry calculation by clever placement of a single camera. The method has been implemented successfully on a large industrial forklift...
A coverage algorithm is an algorithm that deploys a strategy as to how to cover all points in terms of a given area using some set of sensors. In the past decades a lot of research has gone into development of coverage algorithms. Initially, the focus was coverage of structured and semi-structured indoor areas, but with time and development of better sensors and introduction of GPS, the focus has...
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