This paper presents a stochastic map building method for mobile robot using a 2-D laser range finder. Unlike other methods that are based on a set of geometric primitives, the presented method builds a map with a set of obstacle regions. In building a map of the environment, the presented algorithm represents the obstacles with a number of stochastic obstacle regions, each of which is character...

— The aim of this research is to develop a robust navigation system for mobile robot in a road roundabout setting based on a simulated data via a virtual laser range finder (LRF) and vision system. A novel algorithm that combines with the modeled LRF and vision system was proposed to detect the open space area of a road roundabout. To assess the capability of mobile robot in the tracking of the...

This paper describes a new laser-based computer vision system used for automatic fruit recognition. Most relevant vision studies for fruit harvesting are reviewed. Our system is based on an infrared laser-range finder sensor generating range and reflectance images and it is designed to detect spherical objects in non-structured environments. A special image restoration technique is defined and ...

This paper proposes a new approach for calibration of dead reckoning process. Using the well-known UMBmark (University of Michigan Benchmark) is not sufficient for a desirable calibration of dead reckoning. Besides, existing calibration methods usually require explicit measurement of actual motion of the robot. Some recent methods use the smart encoder trailer or long range finder sensors such ...

In this paper, a new method of information fusion – DSmT (Dezert and Smarandache Theory) is introduced to apply to managing and dealing with the uncertain information from robot map building. Here we build grid map form sonar sensors and laser range finder (LRF). The uncertainty mainly comes from sonar sensors and LRF. Aiming to the uncertainty in static environment, we propose Classic DSm (DSm...

An engineering design framework for an autonomous ground vehicle vision system is discussed. We present both the conceptual and physical design by following the design process, development and testing of an intelligent ground vehicle vision system constructed for the 2008 Intelligent Ground Vehicle Competition. During conceptual design, the requirements for the vision system are explored via fu...

Digital 3D models of the environment are needed in rescue and inspection robotics, facility managements and architecture. This paper presents an automatic system for gaging and digitalization of 3D indoor environments. It consists of an autonomous mobile robot, a reliable 3D laser range finder and three elaborated software modules. The first module, a fast variant of the Iterative Closest Point...

This paper presents a sensing system for 3D sensing and mapping by a tracked mobile robot with an arm-type sensor movable unit and a laser range finder (LRF). The arm-type sensor movable unit is mounted on the robot and the LRF is installed at the end of the unit. This system enables the sensor to change position and orientation so that it avoids occlusions according to terrain by this mechanis...