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In this paper, we propose a mobile robot localization system in frequent GPS-denied situations. We utilize multiple observations that are obtained from sequential appearance-based place recognition and GPS. Using GPS observations has still some challenging problems such as multipath or signal lost under environments where there are tall buildings nearby. The appearance-based place recognition that...
In this paper, we propose a mobile robot localization system using multiple observations, which show the robot's global position. One of observations is GPS observation, the other is utilized an appearance based place recognition. Using GPS observations has still some challenging problems such as multipath and signal lost under the environments there is tall buildings nearby. It affects a significant...
In this paper, we propose a mobile robot localization by GPS observations and appearance-based place recognition. These are critical issues for achieving a high accuracy and stable localization due to some challenging problems that GPS observations face still such as multipath and signal lost, especially under situations where there are narrow streets and so on. The appearance-based place recognition...
In this research, we propose a mobile robot localization system using multiple observations, which show the robot's global position. One of observations is GPS observations, another is utilized an appearance based place recognition. Using GPS observations faces still some challenging problems such as multipath and signal lost under the environments there is tall buildings nearby. These are critical...
In this paper, we propose an autonomous navigation system in urban environments. In order to create a useful navigation system in urban environments, the system examines whether the area near around is traversable or not in real time, instead of using prior knowledge of dense maps. To examine the traversability robustly, the system adopts the following technologies. The system involves a localization...
In this paper, we propose an online motion model parameter estimation method. To achieve accurate localization, accurate estimation of motion model parameters is needed. However, the true values of motion model parameters change sequentially according to alteration of surrounding environments. Therefore the online estimation is absolutely imperative. As a typical method to estimate motion model parameters...
In this paper, we propose an autonomous navigation system in urban environments. In order to create a useful navigation system in urban environments, the system examines whether the area near around is traversable or not in real time, instead of using prior knowledge of dense maps. To examine the traversability robustly, the system adopts the following technologies. The system involves a localization...
In this paper, we propose an online motion model parameter estimation method. To achieve accurate localization, accurate estimation of motion model parameters is needed. However, the true values of motion model parameters change sequentially according to alteration of surrounding environments. Therefore the online estimation is absolutely imperative. As a typical method to estimate motion model parameters...
In this paper, we propose a speed control system for autonomous mobile robots using long-range road estimation. In our method, the long-range road is estimated using the images from a camera and the result of near-range road estimation from a laser scanner. Near-range road surface conditions are estimated by using information of remission value as reflectivity of a laser. Our speed control determines...
In this paper, we propose a mobile robot localization system using appearance based place recognition. Our system uses appearance based place recognition and dead reckoning with Gyrodometry model. We use theory of the observation likelihood estimation introduced from Fast Appearance Based Mapping (FAB-MAP) for appearance based place recognition. Images collected by a robot produce Bag-of-Words representation...
In this paper, we propose a mobile robot localization system using appearance based place recognition. Our system uses appearance based place recognition and dead reckoning with Gyrodometry model. We use the theory of the observation likelihood estimation introduced from Fast Appearance Based Mapping (FAB-MAP) for appearance based place recognition. Images collected by a robot produce Bag-of-Words...
In this paper, we propose a novel approach to stable near and long range perception for various complex outdoor environments. Our techniques cope robustly with near-range road estimation using a laser scanner and long-range terrain classification using a color camera. Near-range road surface conditions are estimated by using information of remission value as reflectivity of a laser. We apply graph...
In this paper, we propose a technique of learning a noise pattern of visual odometry for accurate and consistent 6DOF localization. The noise model is represented by three parameters of feature points as input: (I) The number of inliers among feature points, (II) Average of distances between feature points, (III) Variance of interior angles. The correlation between these parameters and estimation...
In future planetary exploration missions, robots are required to traverse over very rough terrain. On the surface of the moon there are covered with soils, which is named regolith. Regolith is easy to slide. Any stack may occur to the robots that are running on the regolith. Some researchers have studied the mobility system for robots. However the optimal and robust mobility systems have not been...
In recent years, many researchers have studied and developed lunar or planetary rovers for unmanned surface exploration. By the way, mission scope of a lander, which does not have mobility, is just a point. If we can have a rover, this mission area can be expanded to two-dimensional mission area. The object of a rover mission is scientific investigation, therefore, a rover system is not a mobile engineering...
This paper describes a newly developed rover with small size, lightweight, low power consumption. Unmanned mobile robots for surface exploration of the moon or planets have been extensively studied and developed. A lunar or planetary rover is required to travel safely over a long distance for many days in unfamiliar terrain. This paper presents exploration mission, scientific signification, requirements,...
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