When organizations collaborate in virtual space, a common frame of reference, or at least a common terminology, is necessary for human-to-human, humanto-machine, and machine-to-machine communication. Similarly, within a core organization characterized by distributed collaboration between remote sites and research or production units, a common understanding of reference terms is indispensable. Y...

Radar offers advantages as a robotic perception modality because it is not as vulnerable to the vacuum, dust, fog, rain, snow and light conditions found in construction, mining, agricultural and planetary-exploration environments. However radar has shortcomings such as a large footprint, sidelobes, specularity effects and limited range resolution—all of which result in poor environment maps. Ev...

A common way of localization in robotics is using triangulation on a system composed of a sensor and some landmarks (which can be artificial or natural). First, when no identifying marks are set on the landmarks, their identification by a robust algorithm is a complex problem which may be solved thanks to correspondence graphs. Second, when the localization system has no a priori information ab...

In this paper we present a technique to build 3D maps of the environment using a 2D laser scanner combined with a robot’s action model. This paper demonstrates that it is possible to build 3D maps in a cheap way using an angled 2D laser. We introduce a scan matching method to minimize the odometer errors of the robotics platform. Some experimental results and conclusions are presented.

The automatic generalization of 3D building models has been a topic of research for almost a decade. Several approaches for the simplification of single objects have been proposed and shown to be valid. Such models of low geometric detail are needed for maplike presentation. In this paper, a generalization algorithm is presented that is based on the decomposition of space along the major planes...

Somajyoti Majumder Australian Centre for Field Robotics(ACFR) University of Sydney Rose Street Building (J04) Sydney, NSW 2006 Australia Steve Scheding Australian Centre for Field Robotics(ACFR) University of Sydney Rose Street Building (J04) Sydney, NSW 2006 Australia Hugh Durrant-Whyte Australian Centre for Field Robotics(ACFR) University of Sydney Rose Street Building (J04) Sydney, NSW 2006 ...

Line drawing maps are frequently used by people to exchange location information. Mobile robots in the future are expected to be able to communicate with people and thus to localize themselves using such maps. We therefore develop a method of outdoor localization using a stereo camera and a line drawing building map. Omnidirectional range data obtained by a stereo camera and a pan-tilt unit are...

SUMMARY In information retrieval the task is to extract from the database ~dl ,and only the documents which are relevant to a user query, even when the query and the documents use little common vocabul~u'y. In this paper we discuss the problem of automatic generation of lexical relations between words ,and phrltses from large text corpora :rod their application to automatic query expansion ill ...

Α generic system for simulating complex dynamical systems along the paradigm of fuzzy cognitive maps (FCM) has been created and tested. The proposed system enables a user to design appropriate FCM structures, by specifying the desired concepts and the various parameters such as sensitivities, as well as a variety of shaping functions. The user is able to see the results, change the parameters, ...

We explain how most conventional approaches to the problem of visually guided robot navigation are fundamentally restricted. Starting with a specification of the requirements of a general purpose visually guided robot which includes, robustness, autonomy, flexibility and scalability, we then develop an approach to the solution of map building and path planning which operates within a learning f...