As we all know, many dynamic objects appear almost continuously in the real world that are immensely capable of impairing performance majority vision-based SLAM systems based on static-world assumption. In order to improve robustness and accuracy visual high-dynamic environments, a real-time robust stereo system for scenes was proposed. To weaken influence content, moving-object detection metho...

We present an optimization-based method to plan the motion of autonomous robot under uncertainties associated with dynamic obstacles, such as humans. Our bounds marginal risk collisions at each point in time by incorporating chance constraints into planning problem. This problem is not suitable for online optimization outright arbitrary probability distributions. Hence, we sample from these usi...

Self-localization in unknown environments respectively correlation of current and former impressions of the world is an essential ability for most mobile robots. The method, proposed in this article is the construction of a qualitative, topological world model as a basis for self-localization. As a central aspect the reliability regarding error-tolerance and stability will be emphasized. The pr...