Robotics

Simultaneous localization and map building
(since september 1998)

• Members:
  • Geovany Araújo Borges
  • René Zapata (LIRMM, França).
  • Marie-José Aldon (LIRMM, France).
• Goals: Theoretical development and experimental evaluation of maping techniques for mobile robots.
• Activities: Constrained stochastic maping, closed-form Bayesian pose estimator.

Images

Omni robot

Map built using a traditional technique

Map built using traditional the proposed technique

• Videos:
  • Omni mission 1: omni.cls.couloir.wmv
  • Omni mission 2: omni.cls.extension.wmv
• Documents:
  • Carla Silva Rocha Aguiar, "Estudo da Plataforma Móvel Omni e Calibração de Câmera para Localização 3-D", B.Sc. conclusion report in Mechatronics Eng., january 2005. (PDF). (in brazilian portuguese).
  • Alexandre Simões Martins e Diogo Andrade, "Cinturão de ultra-som para detecção de obstáculos para o robô Omni", B.Sc. conclusion report in Mechatronics Eng., january 2005. (PDF). (in brazilian portuguese).
    
    
• Publications:
  
  1. G. A. Borges, "Cartographie de l'environnement et localisation robuste pour la navigation de robots mobiles", Département de Robotique, LIRMM/CNRS/Université Montpellier II, Montpellier, France, 2002 (in french). Advisor: Marie-José Aldon, (PDF)
  2. G. A. Borges and M.-J. Aldon, "Line Extraction in 2D Range Images for Mobile Robotics", in Journal of Intelligent & Robotic Systems, v. 40, n. 3, pp. 267-297, 2004.
     
  3. G. A. Borges and M.-J. Aldon, "Robust Estimators for Map-based Mobile Robot Localization", Robotics And Autonomous Systems, v. 45, n. 3,4, pp. 131-159, 2003 .
  4. BORGES, Geovany Araujo, "Cartographie de l'environnement et localisation robuste pour la navigation de robots mobiles". in Rairo - Journal Européen des Systèmes Automatisés (JESA), Paris, v. 37, n. 10, pp. 1299-1304, 2003. (in french)
  5. G. A. Borges and M.-J. Aldon. "Optimal Mobile Robot Pose Estimation Using Geometrical Maps ". in IEEE Transactions on Robotics and Automation, vol. 18, n. 01, pp. 87-94, february 2002.
  6. G. A. Borges, M.-J. Aldon, "LOCAL MAP BUILDING FOR MOBILE ROBOTS BY FUSING LASER RANGEFINDER AND MONOCULAR VIDEO IMAGES", VII SIMPÓSIO BRASILEIRO DE AUTOMAÇÃO INTELIGENTE / II IEEE LATIN-AMERICAN ROBOTICS SYMPOSIUM, 2005, São Luís. 2005. pp. 1-8. (PDF)
  7. G. A. Borges and M.-J. Aldon."Environment Mapping and Robust Localization for Mobile Robots Navigation in Indoor Environments". In CONGRESSO BRASILEIRO DE AUTOMÁTICA, Gramado, Brazil, 2004. (PDF)
  8. G. A. Borges and M.-J. Aldon, "A Decoupled Approach for Simultaneous Stochastic Mapping and Mobile Robot Localization". In Proc. of 2002 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2002), september 30 - october 4, Lausanne, Switzerland, 2002. (PDF)
  9. G. A. Borges, M.-J. Aldon. "Design of a Robust Real-Time Dynamic Localization System for Mobile Robots". In Proc. of 9th International Symposium on Intelligent Robotic Systems (SIRS), Toulouse, France, 2001. (PDF)
  10. G. A. Borges, M.-J. Aldon and T. Gil, "An Optimal Pose Estimator for Map-based Mobile Robot Dynamic Localization: Experimental Comparison with the EKF". In Proc. of IEEE International Conference on Robotics and Automation (ICRA), may 21-26, Seoul, Korea, 2001. (PDF)
  11. G. A. Borges and M.-J. Aldon, "A Split-and-Merge Segmentation Algorithm for Line Extraction in 2-D Range Images". In Proc. of 15th International Conference on Pattern Recognition (ICPR), september 3-8, Barcelona, Spain, 2000 (PDF)
  12. G. A. Borges and M.-J. Aldon, "Motion Estimation by Iterative 2-D Features Matching in Range Images". In Proc. of IEEE International Conference on Robotics and Automation (ICRA), april 22-28, San Francisco, California, USA, 2000. (PDF)
  13. G. A. Borges, M.-J. Aldon and O. Strauss, "Estimation de Mouvement par Appariement de Droites 2-D dans des Images de Distance". In Proc. of 12ème Congrès Francophone AFRIF-AFIA de Reconnaissance des Formes et Intelligence Artificielle (RFIA), february 1-3, Paris, France, 2000 (in french). (PDF)