Simultaneous Localization and Mapping

Wide-Sense Localization Research at Linköping University

Abstract:

The division of Automatic Control at Linköping university has a long tradition and a strong position in Sweden when it comes to research in the wide area of localization. This research, includes SLAM applications, multi-target tracking, and sensor management...
Active SLAM using Connectivity Graphs as Priors

Mobile robots can be considered completely autonomous if they embed active algorithms for Simultaneous Localization And Mapping (SLAM). This means that the robot is able to autonomously, or actively, explore and create a reliable map of the environment, while simultaneously estimating its pose. In...
Low-cost Sonar Navigation System

In this paper, we present a sonar-based navigation system, designed to deploy a fleet of autonomous mobile platforms at a reasonable cost. In educational and hobbyist contexts, a large number of robots is required. By means of classical navigation approaches, every robot should be provided with...
Efficient Long-term Mapping in Dynamic Environments
Better Lost in Transition Than Lost in Space: SLAM State Machine

A Simultaneous Localization and Mapping(SLAM) system is a complex program consisting of several interconnected components with different functionalities such as optimization, tracking or loop detection. Whereas the literature addresses in detail how enhancing the algorithmic aspects...
Adding Cues to Binary Feature Descriptors for Visual Place Recognition

In this paper we propose an approach to embed multi-dimensional continuous cues in binary feature descriptors used for visual place recognition. The embedding is achieved by extending each feature descriptor with a binary string that encodes a cue and supports the Hamming distance metric....
Unified Motion-Based Calibration of Mobile Multi-Sensor Platforms with Time Delay Estimation

The ability to maintain and continuously update geometric calibration parameters of a mobile platform is a key functionality for every robotic system. These parameters include the intrinsic kinematic parameters of the platform, the extrinsic parameters of the sensors mounted on it, and their time...
Systematic Handling of Heterogeneous Geometric Primitives in Graph-SLAM Optimization

In this letter, we propose a pose-landmark graph optimization back-end that supports maps consisting of points, lines, or planes. Our back-end allows representing both homogeneous ( point–point , line–line , plane–plane ) and heterogeneous measurements ( point-on-line , point-on-plane , line-on-...
Artificial Intelligence and Robotics

The research in this area is at the intersection between Artificial Intelligence and Robotics, and has its roots in the early AI research that targeted robots as embodiments of the intelligent agent.
The key scientific challenge, which has received a significant push by the recent...
An Effective Multi-Cue Positioning System for Agricultural Robotics

The self-localization capability is a crucial component for Unmanned Ground Vehicles (UGV) in farming applications. Approaches based solely on visual cues or on low-cost GPS are easily prone to fail in such scenarios. In this paper, we present a robust and accurate 3D global pose estimation...