As one of the most important issues in the field of mobile robotics, self-localization allows a
mobile robot to identify and keep track of its own position and orientation as the robot moves …

The paper describes a visual method for the navigation of autonomous floor-cleaning robots.
The method constructs a topological map with metrical information where place nodes are …

We present a mostly vision-based controller for map** and completely covering a
rectangular area by meandering cleaning lanes. The robot is guided along a parallel course …

Conventional particle filtering-based visual ego-motion estimation or visual odometry often
suffers from large local linearization errors in the case of abrupt camera motion. The main …

SLAM is one of the most widely researched topics of robotics. It is especially useful for
building and updating maps within an unknown environment, while the robot keeps the …

Estimating camera pose and scene structures from seriously degraded images is
challenging problem. Most existing multi-view stereo algorithms assume high-quality input …

This paper proposes a novel FastSLAM based on UT (Unscented Transform). A novel
proposal distribution which integrates current observation is proposed, wherein the particles …