A b s t r a c t To relieve damages of earthquake disaster, " The Special Project for Earthquake Disaster Mitigation in Urban Areas " have been kicked off in Japan. Our researcb group is a part of the sub-project " modeling of disaster environment for search and rescue " since 2002. In this project, our group aims to develop a three-dimensional mapping's algorithm that is installed in a mobile r...

Wireless sensor network localization is an important area that attracted significant research interest. This interest is expected to grow further with the proliferation of wireless sensor network applications. This paper provides an overview of the measurement techniques in sensor network localization and the one-hop localization algorithms based on these measurements. A detailed investigation ...

Recent successful SLAM methods employ hybrid map representations combining the strengths of topological maps and occupancy grids. Such representations often facilitate multi-agent mapping. In this paper, a successful SLAM method is presented, which is inspired by the manifold data structure by Howard et al. This method maintains a graph with sensor observations stored in vertices and pose diffe...

This paper presents an approach to the generation of three dimensional maps of complex environments that exploits improvements in vehicle location estimation provided by the Simultaneous Localisation and Mapping (SLAM) algorithm. It is shown that the use of the SLAM algorithm is able to improve the estimated vehicle path, resulting in a higher fidelity model of the environment. The map complexi...

Although traditional tracking and multitarget tracking have examined the problems of estimating multiple targets in an uncertain environment, the addition of navigational uncertainty results in additional complexities which are not addressed by these methodologies. Concurrent mapping and localization refers to the use of environmental cues to both build a map and reduce navigational uncertainty...

In rescue missions or law enforcement applications, accurate determination of every team member’s position and providing this information on a map may significantly improve mutual situation awareness and potentially reduce the risk of accidentally harming a team member. Furthermore, it could help keep track of the areas that have been already visited, helping the coordination of the mission at ...

BRIAN SANDERSON CLIPP: Multi-Camera Simultaneous Localization and Mapping (Under the direction of Marc Pollefeys and Jan-Michael Frahm) In this thesis, we study two aspects of simultaneous localization and mapping (SLAM) for multi-camera systems: minimal solution methods for the scaled motion of non-overlapping and partially overlapping two camera systems and enabling online, real-time mapping ...

Nowadays, a collection of two or more autonomous mobile agents working together are denoted as teams or simply societies of mobile robots. In Multi-Robot Systems (MRS) robots are allowed to coordinate with each other in order to achieve a speci c goal. In these systems, robots are far less capable as an entity, but the real power lies in the cooperation of the team. The simplicity of MRS has pr...

We propose a novel, hybrid SLAM system to construct a dense occupancy grid map based on sparse visual features and dense depth information. While previous approaches deemed the occupancy grid usable only in 2D mapping, and in combination with a probabilistic approach, we show that geometric SLAM can produce consistent, robust and dense occupancy information, and maintain it even during erroneou...