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In recent SLAM (simultaneous localization and mapping) literature, Pose Only optimization methods have become increasingly popular. This is greatly supported by the fact that these algorithms are computationally more efficient, as they focus more on the robots trajectory rather than dealing with a complex map. Implementation simplicity allows these to handle both 2D and 3D environments with ease....
We present a head-mounted, stereo-vision based navigational assistance device for the visually impaired. The head-mounted design enables our subjects to stand and scan the scene for integrating wide-field information, compared to shoulder or waist-mounted designs in literature which require body rotations. In order to extract and maintain orientation information for creating a sense of egocentricity...
A hybrid Bayesian/ frequentist approach is presented for the simultaneous localization and mapping problem (SLAM). A frequentist approach is proposed for mapping with time varying robotic poses and is generalized to the case when the robotic pose is both time varying and uncertain. The SLAM problem is then solved in two steps: 1) the robot is localized with respect to a sparse set of landmarks in...
This paper proposes a solution to a door crossing problem in unknown environments for an autonomous wheelchair. The problem is solved by a dynamic path planning algorithm implementation based on successive frontier points determination. An adaptive trajectory tracking control based on the dynamic model is implemented on the vehicle to direct the wheelchair motion along the path in a smooth movement...
This paper proposes a pose-based algorithm to solve the full SLAM problem for an autonomous underwater vehicle (AUV), navigating in an unknown and possibly unstructured environment. The technique incorporate probabilistic scan matching with range scans gathered from a mechanical scanning imaging sonar (MSIS) and the robot dead-reckoning displacements estimated from a Doppler velocity log (DVL) and...
In continuation of our previous work on visual, appearance-based localization in manually built maps in this paper we present a novel appearance-based, visual SLAM approach. The essential contribution of this work is, an adaptive sensor model which is estimated online and a graph matching scheme to evaluate the likelihood of a given topological map. Both methods enable the combination of an appearance-based,...
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