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MRPT-related papers

What’s this? This is a repository of scientific papers whose experimental results were carried out using the MRPT library and tools. Along with each paper, you’ll also find the corresponding datasets, the source code used for the experiments and/or instructions/scripts to reproduce

Posted in Publications

Paper: J.L. Blanco’s Phd Thesis

Contributions to Localization, Mapping and Navigation in Mobile Robotics, PhD Thesis, Jose-Luis Blanco-Claraco, November 13th, 2009. Downloads: PDF (12.6Mb) – Citation (Bibtex) - Slides (17.5 Mb) - Slides+videos (196 Mb) Abstract: This thesis focuses on the problem of enabling mobile robots to autonomously build world models of their

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An alternative to the Mahalanobis distance for determining optimal correspondences in data association

“An alternative to the Mahalanobis distance for determining optimal correspondences in data association”. J.L. Blanco, J. Gonzalez-Jimenez, J.A. Fernandez-Madrigal. IEEE Transactions on Robotics (T-RO), vol. 28, no.4, 980-986, 2012. (Bibtex, Draft PDF) DOI: 10.1109/TRO.2012.2193706 Abstract: The most common criteria for determining data association rely on

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6 DoF SLAM using a ToF Camera: The challenge of a continuously growing number of landmarks

6 DoF SLAM using a ToF Camera: The challenge of a continuously growing number of landmarks

“6 DoF SLAM using a ToF Camera: The challenge of a continuously growing number of landmarks”, Siegfried Hochdorfer, Christian Schlegel, IROS 2010 – (Link). Authors are with the Collaborative Center for Applied Research (http://www.zafh-servicerobotik.de/), Ulm, Germany. Online video with results from

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Optimal Filtering for Non-Parametric Observation Models: Applications to Localization and SLAM

“An Optimal Filtering Algorithm for Non-Parametric Observation Models in Robot Localization”, ICRA 2008, Pasadena (California, USA), May 19-23, 2008. (PDF) – (Slides) Abstract: The lack of a parameterized observation model in robot localization using occupancy grids requires the application of sampling-based methods,

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Paper:UWB Particle Filter Localization

Paper:UWB Particle Filter Localization

“Mobile Robot Localization based on Ultra-Wide-Band Ranging: A Particle Filter Approach”, Robotics and Autonomous Systems (2009)  (Bibtex, PDF, DOI: 10.1016/j.robot.2008.10.022) Abstract: This article addresses the problem of mobile robot localization using Ultra-Wide-Band (UWB) range measurements. UWB is a radio technology widely used for communications

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Paper: Stereo Vision Models for RBPF SLAM

“Stereo vision-specific models for Particle Filter-based SLAM”, Robotic and Autonomous Systems - PDF. Abstract:This work addresses the SLAM problem for stereo vision systems under the unified formulation of particle filter methods. In contrast to most existing approaches to visual SLAM, the present method

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Paper: RO-SLAM with SOG

“Efficient Probabilistic Range-Only SLAM”, IROS 2008 - PDF - Slides PPT Abstract: This work addresses Range-Only SLAM (RO-SLAM) as the Bayesian inference problem of sequentially tracking a vehicle while estimating the location of a set of beacons without any prior information. The only assumptions

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Paper: Subjective Local Maps for Hybrid Metric-Topological SLAM

Subjective Local Maps for Hybrid Metric-Topological SLAM, Robotics and Autonomous Systems, 2009 – (PDF). Abstract: Hybrid maps where local metric sub-maps are kept in the nodes of a graph-based topological structure are gaining relevance as the focus of robot Simultaneous Localization and

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Paper: Occupancy Grid Matching

Paper: J.L. Blanco, J. Gonzalez-Jimenez, J.A. Fernandez-Madrigal, “A Robust, Multi-Hypothesis Approach to Matching Occupancy Grid Maps”, Robotica, 2013 (DOI). Abstract:This article presents a new approach to matching occupancy grid maps by means of finding correspondences between a set of sparse features detected

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Paper: Extending Obstacle Avoidance Methods through Multiple Parameter-Space Transformations

Paper: Extending Obstacle Avoidance Methods through Multiple Parameter-Space Transformations

“Extending Obstacle Avoidance Methods through Multiple Parameter-Space Transformations”, Jose-Luis Blanco, Javier Gonzalez, and Juan-Antonio Fernandez-Madrigal, Autonomous Robots, 2008 -View article - PDF Abstract: Obstacle avoidance methods approach the problem of mobile robot autonomous navigation by steering the robot in real-time according to the

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Paper: Malaga dataset 2009 with 6D ground truth

Dataset2009_bulevar_color

A Collection of Outdoor Robotic Datasets with centimeter-accuracy Ground Truth, Jose-Luis Blanco, Francisco-Angel Moreno, Javier Gonzalez, Autonomous Robots , 2009 – (Draft PDF) – (Official PDF ) Abstract: The lack of publicly accessible datasets with a reliable ground truth has prevented in the

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TechRep: A tutorial on SE(3) transformation parameterizations and on-manifold optimization

“A tutorial on SE(3) transformation parameterizations and on-manifold optimization”, J.L. Blanco, Technical report, 2010. (PDF, Bibtex). Updated: 14/AUG/2012. Abstract: An arbitrary rigid transformation in SE(3) can be separated into two parts, namely, a translation and a rigid rotation. This technical report reviews, under a

Posted in Publications

SLAM Book (2012)

fernandez-blanco2012slam-book

Title: Simultaneous Localization and Mapping for Mobile Robots: Introduction and Methods Authors: Fernández-Madrigal, J.A. and Blanco, J.L. Release date: 2012 ISBN: 978-1466621046 Pages: 497 Available in: Amazon IGI Global (Sample PDFs) Description As mobile robots become more common in general knowledge and practices, as opposed to simply

Posted in Publications

Derivation and Implementation of a Full 6D EKF-based Solution to Range-Bearing SLAM

Technical report: “Derivation and Implementation of a Full 6D EKF-based Solution to Range-Bearing SLAM”, Jose-Luis Blanco, Perception and Mobile Robots Research Group, University of Malaga, Spain. (new version with corrected Jacobians, soon!, old version: PDF) This document describes the theory behind the application kf-slam.

Posted in Publications

Sparser Relative Bundle Adjustment (SRBA)

Sparser Relative Bundle Adjustment (SRBA)

1. Theory Bundle adjustment is the name given to one solution to visual SLAM based on maximum-likelihood estimation (MLE) over the space of map features and camera poses. However, it is by no way limited to visual maps, since the same technique is

Posted in Publications

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