Autonomous vehicles are expected to play a key role in the future of urban transportation
systems, as they offer potential for additional safety, increased productivity, greater …

Real-time 3D perception of the surrounding environment is a crucial precondition for the
reliable and safe application of mobile service robots in domestic environments. Using a …

Abstract 6D SLAM (simultaneous localization and map**) or 6D concurrent localization
and map** of mobile robots considers six dimensions for the robot pose, namely, the x, y …

Intelligent autonomous action in ordinary environments calls for maps. 3D geometry is
generally required for avoiding collision with complex obstacles and to self-localize in six …

In this paper, we describe a new approach for the extrinsic calibration of a camera with a 3D
laser range finder, that can be done on the fly. This approach does not require any …

To operate outdoors or on non-flat surfaces, mobile robots need appropriate data structures
that provide a compact representation of the environment and at the same time support …

A globally consistent solution to the simultaneous localization and map** (SLAM) problem
in 2D with three degrees of freedom (DoF) poses was presented by Lu and Milios [F. Lu, E …

This paper presents a novel way to address the extrinsic calibration problem for a system
composed of a 3D LIDAR and a camera. The relative transformation between the two …

There are about 253 million people with visual impairment worldwide. Many of them use a
white cane and/or a guide dog as the mobility tool for daily travel. Despite decades of efforts …

This paper describes an automated method for creating accurate 2D floor plan models of
building interiors. Our approach takes as input a 3D point cloud, which is obtained from laser …