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One of the most important tasks for mobile robots is to sense their environment. Further tasks might include the recognition of objects in the surrounding environment. Three dimensional range finders have become the sensors of choice for mapping the environment of a robot. Recognizing objects in point clouds provided by such sensors is a difficult task. The main contribution of this paper is the introduction...
Programming by Demonstration offers an intuitive framework for teaching robots how to perform various tasks without having to preprogram them. It also offers an intuitive way to provide corrections and refine teaching during task execution. Previously, mostly position constraints have been taken into account when teaching tasks from demonstrations. In this work, we tackle the problem of teaching tasks...
In this paper, we derive a probabilistic registration algorithm for object modeling and tracking. In many robotics applications, such as manipulation tasks, nonvisual information about the movement of the object is available, which we will combine with the visual information. Furthermore we do not only consider observations of the object, but we also take space into account which has been observed...
This paper presents a navigation system for an Autonomous Underwater Vehicle (AUV) which merges standard dead reckoning navigation data with absolute position fixes from an Ultra-Short Base Line (USBL) system. Traditionally, the USBL transceiver is located on the surface, which makes necessary to feed the position fixes back to the AUV by means of an acoustic modem. An Information filter, which maintains...
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