An Extended Kalman Filter for Magnetic Field SLAM Using Gaussian Process Regression

We present a computationally efficient algorithm for using variations in the ambient magnetic field to compensate for position drift in integrated odometry measurements (dead-reckoning estimates) through simultaneous localization and mapping (SLAM). When the magnetic field map is represented with a reduced-rank Gaussian process (GP) using...

Evaluating SLAM in an urban dynamic environment

Simultaneous Localization And Mapping (SLAM) algorithms provide accurate localization for autonomous vehicles and provide essential information for the path planning module. However, SLAM algorithms as- sume a static environment in order to estimate a location. This assumption influences the pose estimation in dynamic urban environments. The...

Design of a Hybrid-Range-LiDAR SLAM algorithm: a graph-based approach to SLAM using ultra-wideband radios

A fundamental prerequisite for many robot-tasks is the availability of an environment model. The ability of a robot to create such a model itself is crucial to having truly autonomous robots around in our daily lives. For basic robot-tasks, a two-dimensional grid-map that describes a distinction between inhabitable and uninhabitable space is a...

Gaining by forgetting: Towards long-term mobile robot autonomy in large scale environments using a novel hybrid metric-topological mapping system

The emerging of mobile robots in everyday life scenarios, such as in the case of domestic care robots, is highly anticipated. Much research has been carried out to make robots more capable of performing tasks in our everyday environments. Despite major progress over the last decades, many hurdles are still to be taken. In the field of robotic...

Automatic registration of iPhone images to laser point clouds of urban structures using shape features

Fusion of 3D airborne laser (LIDAR) data and terrestrial optical imagery can be applied in 3D urban modeling and model up-dating. The most challenging aspect of the fusion procedure is registering the terrestrial optical images on the LIDAR point clouds. In this article, we propose an approach for registering these two different data from...