ABSTRAKAutomated Guided Vehicle (AGV) merupakan salah satu jenis mobile robot yang digunakan untuk mengangkut barang menuju tempat tujuan. AGV mampu bekerja pada lingkungan dinamis tanpa menggunakan garis pemandu. Namun sebelumnya harus mempunyai informasi cukup terhadap kerjanya. Teknik ini dikenal dengan Simulataneous Localization and Mapping (SLAM) menggambar peta sekaligus mengetahui posisi...

A point cloud registration method is proposed in this article, and experimental results are presented for long threedimensional map sequences obtained from a moving observer. In vision based systems used in mobile robotics the perception of self-motion and the structure of the environment is essential. Inertial and earth field magnetic pose sensors can provide valuable data about camera ego-mot...

This paper presents an approach to categorize typical places in indoor environments using 3D scans provided by a laser range finder. Examples of such places are offices, laboratories, or kitchens. In our method, we combine the range and reflectance data from the laser scan for the final categorization of places. Range and reflectance images are transformed into histograms of local binary patter...

This paper describes an approach to combining range data from both a set of sonar sensors as well as from a directional laser range finder to efficiently take advantage of the characteristics of both types of devices when exploring and mapping unknown worlds. We call our approach “just in time sensing” because it uses the more accurate but constrained laser range sensor only as needed, based up...

This paper describes a data integration approach for arbitrary 2D/3D depth sensing units exploiting assets of the signed distance function. The underlying framework generalizes the KinectFusion approach with an objectoriented model respecting different sensor modalities. For instance, measurements of 2D/3D laser range finders and RGB-D cameras can be integrated into the same representation. Exe...

We report on an experimental method to align a laser beam to a cloud of atoms trapped in a magneto-optical trap (MOT). We show how balanced lock-in detection leads to a very sensitive method to align the laser beam to the atoms in the plane perpendicular to the propagation direction. This provides a very reliable and fast way of aligning laser beams to atoms trapped in a MOT.