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In the near future robots will be used in home environments to provide assistance for the elderly and challenged people. The arrangement of sensors influences greatly the quality of information provided to the robot. We, therefore, examine the problem of the optimal arrangement of vision sensors for the case of a robot following a pre-defined path. A methodology to evaluate the arrangement of sensors...
2D laser range finders have been widely used in mobile robot navigation. However, their use is limited to simple environments containing objects of regular geometry and shapes. Stereo vision, instead, provides 3D structural data of complex objects. In this paper, measurements from a stereo vision camera system and a 2D laser range finder are fused to dynamically plan and navigate a mobile robot in...
This paper presents a simultaneous localization and mapping algorithm (SLAM) by using a new 3D sensor namely the photonic mixer devices (PMD). The PMD camera enables 3D image grabbing within a few milliseconds and gives an important impulse in visual 3D sensing. This camera is capable of capturing reliable depth images directly in real-time. The PMD is also compact and affordable, which makes it attractive...
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