Papers by Roland Siegwart
Computer Vision Systems, …, 2006
Bookmarks Related papers MentionsView impact
Robotics and Automation, …, 2008
Bookmarks Related papers MentionsView impact
6th IFAC Symposium on Intelligent …, 2007
Bookmarks Related papers MentionsView impact
Autonomous …, 2007
Bookmarks Related papers MentionsView impact
IEEE Int. Conf. on Robotics and …, 2007
Bookmarks Related papers MentionsView impact
Intelligent autonomous systems, 2008
Bookmarks Related papers MentionsView impact
… and Automation, 2009 …, 2009
Bookmarks Related papers MentionsView impact
Robots are rapidly evolving from factory work-horses to robot-companions. The future of robots, a... more Robots are rapidly evolving from factory work-horses to robot-companions. The future of robots, as our companions, is highly dependent on their abilities to understand, interpret and represent the environment in an efficient and consistent fashion, in a way that is compatible to humans. The work presented here is oriented in this direction. It suggests a hierarchical, concept oriented, probabilistic representation of space for mobile robots. A salient aspect of the proposed approach is that it is holistic - it attempts to create a consistent link from the sensory information the robot acquires to the human-compatible spatial concepts that the robot subsequently forms, while taking into account both uncertainty and incompleteness of perceived information. The approach is aimed at increasing spatial awareness in robots.
Bookmarks Related papers MentionsView impact
Bookmarks Related papers MentionsView impact
Robotics and Autonomous …, 2007
Bookmarks Related papers MentionsView impact
Bookmarks Related papers MentionsView impact
Bookmarks Related papers MentionsView impact
2011 IEEE International Conference on Robotics and Automation, 2011
Single camera solutions - such as monocular visual odometry or monoSLAM approaches - found a wide... more Single camera solutions - such as monocular visual odometry or monoSLAM approaches - found a wide echo in the community. All the monocular approaches, however, suffer from the lack of metric scale. In this paper, we present a solution to tackle this issue by adding an inertial sensor equipped with a three-axis accelerometer and gyroscope. In contrast to previous approaches, our solution is independent of the underlying vision algorithm which estimates the camera poses. As a direct consequence, the algorithm presented here operates at a constant computational complexity in real time. We treat the visual framework as a black box and thus the approach is modular and widely applicable to existing monocular solutions. It can be used with any pose estimation algorithm such as visual odometry, visual SLAM, monocular or stereo setups or even GPS solutions with gravity and compass attitude estimation. In this paper, we show the thorough development of the metric state estimation based on an Extended Kalman Filter. Furthermore, even though we treat the visual framework as a black box, we show how to detect failures and estimate drifts in it. We implement our solution on a monocular vision pose estimation framework and show the results both in simulation and on real data.
Bookmarks Related papers MentionsView impact
Journal of Micro-Nano Mechatronics, 2009
Bookmarks Related papers MentionsView impact
Advances In Mobile Robotics - Proceedings of the Eleventh International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, 2008
Bookmarks Related papers MentionsView impact
Journal of the Brazilian Society of Mechanical Sciences and Engineering, 2009
Bookmarks Related papers MentionsView impact
This paper describes the hardware and behavior implementation of a miniature robot in size of a m... more This paper describes the hardware and behavior implementation of a miniature robot in size of a match box that simulates the behavior of cockroaches in order to establish a social interaction with them. The robot is equipped with two micro-processors dedicated to hardware processing and behavior generation. The robot can discriminate cockroaches, other robots, environment boundaries and shelters. It has
Bookmarks Related papers MentionsView impact
Robotics and Biomimetics, 2005
This paper describes the hardware and behavior implementation of a miniature robot, in size of a ... more This paper describes the hardware and behavior implementation of a miniature robot, in size of a match box, that is able to interact with cockroaches. The robot is equipped with two micro-processors dedicated to hardware processing and behavior generation. It is also equipped with 12 infra-red proximity sensors, 2 light sensors, a linear camera and a battery that allows 3
Bookmarks Related papers MentionsView impact
Lecture Notes in Computer Science, 2010
Bookmarks Related papers MentionsView impact
Bookmarks Related papers MentionsView impact
Uploads
Papers by Roland Siegwart