This paper describes a human body-part detection system using a vertical laser scan. From a stationary Hokuyo laser range-finder, a scan is taken of the frontview of a human subject, where the scan falls on one side of their body to include the leg. As the subject walks towards the laser, the scan data is autonomously broken up into five body segments and the information compacted into feature ...

This paper describes a method for automatically recharging the batteries on a mobile robot. The robot used in this project is the Nomadic .TechnologiesTM Nomad XR4000 mobile robot. The battery recharging system was implemented using the robot's built-in sensors to control docking with a simple recharging station. The recharging station has an AC power plug, an infra-red beacon and a target desi...

This paper presents a precise ( 1cm), lightweight (5kg) and low cost 3D laser range finder for the fast gaging ( 1 4 sec) of environments. Real-time algorithms for the data reduction, 3D-object segmentation are also presented. A special designed suspension unit, a standard servo motor and a standard 2D range finder are used to build the 3D scanner. Maximal resolutions e.g. 180 (h) 90 (v) degree...

A straightforward method is presented for the determination of the optimal sensor explorations in a three degrees of freedom localization problem relative to a mobile robot moving within a known, polygonal environment. Optimality is intended in the sense of the a posteriori (i.e., after the explorations) covariance matrix of the robot position and orien ,tation parameters. The used sensor is an...

We describe results on combining depth information from a laser range-finder and color and texture image cues to segment ill-structured dirt, gravel, and asphalt roads as input to an autonomous road following system. A large number of registered laser and camera images were captured at frame-rate on a variety of rural roads, allowing laser features such as 3-D height and smoothness to be correl...