We present an algorithm for SLAM on planar graphs. We assume that a robot moves from node to node on the graph using odometry to measure the distance between consecutive landmark observations. At each node, the robot follows a branch chosen at random, without reporting which branch it follows. A low-level process detects (with some uncertainty) the presence of landmarks, such as corners, branch...

This paper proposes a parallel joint boosting method that simultaneously estimates poses and face landmarks. The proposed method iteratively updates the poses and face landmarks through a cascade of parallel random ferns in a forward stage-wise manner. At each stage, the pose and face landmark estimates are updated: pose probabilities are updated based on previous face landmark estimates and fa...

For the fast and accurate self-localization of mobile robots, landmarks can be used very efficiently in the complex workspace. In this paper, we propose a simple color landmark model for self-localization and a fast landmark detection and tracking algorithm based on the proposed landmark model. We develop a color landmark with a symmetric and repetitive structure, which shows invariant color hi...

We present an in vitro study of rigid registration methods for computer-aided surgery. The goals of the study were to obtain accuracy measures empirically under optimal laboratory conditions, and to identify the weak links in the registration chain. Specifically, we investigated two common registration methods (contact-based registration and image-based landmark registration) and established a ...

We present a method for navigating a robot from an initial position to a speciied landmark in its visual eld, using a sequence of monocular images. The location of the landmark with respect to the robot is determined based on the change in size and location of the landmark in the image, as a function of the motion of the robot. The change in size and location of the landmark in the image are de...

Landmarks are fundamental elements for people to learn an environment. People use these landmarks to enrich their route descriptions (for example, when anchoring movements at decision points). Several automatic landmark identification and selection theories have been suggested in recent years. This paper evaluates these theories by comparing the landmarks identified by automatic landmark select...

This thesis presents simultaneous localization and mapping algorithm for a small mobile robot. The designed solution enables to determine a mobile robot’s and landmark positions using self-localization and camera based landmark detection. As landmarks, roundel patterns are used that are positioned statically on obstacles or borders of the used arena. One of the key features is the suppression o...

African mormyrids, such as Gnathonemus petersii, migrate: nocturnally, from daytime shelters to find food and return by morning, and seasonally, spawning in swamps flooded during the rainy season. The present study examined whether the fish use landmarks detected via electrolocation to locate an aperture, whether they detect changes in landmark size and respond appropriately, whether landmarks ...

A number of navigational theories state that learning about landmark information should not interfere with learning about shape information provided by the boundary walls of an environment. A common test of such theories has been to assess whether landmark information will overshadow, or restrict, learning about shape information. Whilst a number of studies have shown that landmarks are not abl...

This paper describes the adoption of the Ethernet/IP standard in the development of a specification for the interconnection of mining equipment as part of an industry-sponsored Landmark longwall automation project. Longwall mining is used extensively worldwide and accounts for the majority of underground coal production in Australia and the USA. Full automation of the longwall mining process is...