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A new convergence calculation method of the normal distributions transform (NDT) scan matching for high resolution of grid maps is proposed. NDT scan matching algorithm usually has a good effect on large grids, so it is difficult to generate the detailed map with small grids. The proposed method employs interactive closest point (ICP) algorithm to find corresponding point, and it also enlarges the...
Finding objects and tracking their poses are essential functions for service robots, in order to manipulate objects and interact with humans. We present an approach for object detection and 3D pose estimation for autonomous mobile robots, that is suitable for general uses in a modularized robot control system. Our approach extracts local features from the input images, searches for the reference pattern,...
Recently, human-friendly robots such are mainly focused on their functions. And, based on these functions, many researchers have tried to realize good applications for convenient human life. While, a mental safety and affinity for human are also important topics to co-existence with robots. The evaluation techniques of robot motion and design are necessary to consider the above things. However, the...
In this work, we create a large planar camera array in our intelligent environment. It extremely extends the scope of surveillance area, and more precisely localizes robots with high response speed for AGV system. In this camera array system, color based particle filter tracking algorithm efficiently performs the task of localizing and identifying robots. The tracking algorithm intelligently controls...
In this paper, the ubiquitous mobile manipulator system, which could realize the concept of ubiquitous robotics, is proposed. The ubiquitous robot might be able to give several services in human environments, beside classical robots have many problems to realize services, because of the complexity of environments and the amount of information. The experiment shows the validness of this system configuration...
In this paper, a localization method is provided using different-type sensors in ubiquitous environment. Ubiquitous based mobile robot requires information from sensors and structured environment to recognize its own position. In order to recognize the position of mobile robot, it is necessary data structure to integrate information from mobile sensors and the structured environment. An integration...
The collaboration of monitoring robot and UFAM (ubiquitous functions activate module) is proposed to achieve automated, wide-range applicable, precise, speedy, and cost-low monitoring and inspection systems. With the advancement of RFID technology, robots are capable of obtaining more intelligence and more flexibility. We have already proposed the idea of the collaboration between mobile robot and...
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