We propose to use a multi-camera rig for simultaneous localization and mapping (SLAM), providing flexibility in sensor placement on mobile robot platforms while exploiting the stronger localization constraints provided by omni-directional sensors. In this context, we present a novel probabilistic approach to data association, that takes into account that features can also move between cameras u...

In this paper we propose a non-linear model predictive controller architecture (NMPC) for trajectory tracking of an omni-directional mobile robot. The controller employs a simplified process model to predict the evolution of the state of the robot which allows for real-time minimization of the cost function using gradient descent methods. The cost function is chosen so as to penalize the positi...

In this paper, we propose a method for a mobile robot to avoid obstacles in its environment using an omni-directional camera. The method makes an environment map consisting of 3D edge points obtained from omnidirectional camera images and estimates the locations of planes by analysing these 3D edge points so that the robot can avoid walls as obstacles. The method has the advantage that it can g...

We address the problem of indoor mobile robot navigation by center following without prior environmental information based on visual information provided by a single camera. Recently, the research on the mobile robot of the automatic moving type works actively (DeSouza & Kak, 2002). It is an important problem to acquire moving environment information to move automatically. Various sensors such ...

As a laboratory demonstration platform, TUT-I mobile robot provides various experimentation modules to demonstrate the robotics technologies that are involved in remote control, computer programming, teach-and-playback operations. Typically, the teach-and-playback operation has been proved to be an effective solution especially in structured environments. The path generated in the teach mode an...

In this paper we present recent results of integrating omni-directional view image analysis and a set of adaptive backpropagation networks to understand the outdoor road scene by a mobile robot. Road is classified before orientation estimation so that the system can deal with road images with different types effectively and efficiently. A modified omni-view image sensor captures images with 360...

Omni-directional robots are becoming more and more common in recent robotic applications. They offer improved ease of maneuverability and effectiveness at the expense of increased complexity. Frequent applications include but are not limited to robotic competitions and service robotics. The goal of this work is to find a precise dynamical model in order to predict the robot behavior. Models wer...