ecmr 2007 proceedings of the 3rd european conference on
TRANSCRIPT
IfALBERT-LUDWIGS-UNIVERSITÄT FREI BURG
ECMR 2007
Proceedings of the 3rd European Conference on Mobile Robots
September 19-21,2007 Freiburg, Germany
Editors:
Wolfram Bureard «^L°.* Horst-Michael Gross SlJELc..
CONTENTS
Session I - Representations, Architectures, Learning 1
A Bayesian Approach to Conceptualization and Place Classification: Using the Number of Occurrences of Objects to Infer Concepts S. Vasudevan, A. Harati and R. Siegwart 1
Comparison of Different Approaches to Vibration-based Terrain Classification Ch. Weiss, N. Fechner, M. Stark, A.Zell 7
Improving reinforcement learning through a better exploration strategy and an adjustable representation of the environment R. Iglesias, M. Rodriguez, M. Sänchez, E. Pereira, C. V. Regueiro 13
Towards an Experimental Autonomous Blimp Platform A. Rottmann, M. Sippel, T. Zittereil, W. Burgard, L. Reindl,Ch. Scholl 19
Discussion of Challenges for User Interfaces in Human-Robot Teams F. Driewer, M. Sauer, and K. Schilling 25
The Fusion of Multiple Sources of Information in the Organization of Goal-Oriented Behavior: Spatial Attention versus Integration M. Ringwald, R F. M. J. Verschure 31
How to Get from Interpolated Keyframes to Neural Attractor Landscapes and Why? M. Hild, M. Kubisch, D. Göhring 37
Session II - Multi-Robot-Systems, Intelligent Vehicles 42
Autonomous multi-vehicle formations for cooperative airfield snow shoveling M. Hess, M. Saska, K. Schilling 42
Minimizing Trilateration Errors in the Presence of Uncertain Landmark Positions A. Bahr, J. J. Leonard 48
Distributed supervisory control for a System of path-network sharing mobile robots E. Roszkowska, B. Kreczmer, A. Borkowski, M. Gnatowski 54
Sliding mode control for vision based leader following G. Orlando, E. Frontoni, A. Mancini, P. Zingaretti 60
3D Model-Based Dynamic Feature Planning for Laser Scanner-Based Navigation of Vehicles R. Stahn, A. Stopp 66
Road-marking analysis for autonomous vehicle guidance S. Vacek, C. Schimmel, R. Dillmann 72
Efficient Lane Detection and Tracking in Urban Environments S. Sehestedt, S. Kodagoda, A. Alempijevic, G. Dissanayake 78
IV
Session III - SLAM 1, Localization, Path Planning 84
Experimental EKF-based SLAM for mini-rovers with IR sensors only F. Abrate, B. Bona, M. Indri 84
Force Field Based n-Scan Alignment R. Lakaemper, N. Adluru, L. J. Latecki 90
Integration of 3D Lines and Points in 6DoF Visual SLAM by Uncertain Projective Geometry D. Marzorati, M. Matteucci, D. Migliore, D. G. Sorrenti 96
3D Map Registration using Vision/Laser and Inertial Sensing L. G. B. Mirisola, J. Lobo and J. Dias 102
Mobile Robot Path Planning Software and Hardware Implementations L. Vacariu, F. Roman, M. Timar, T. Stanciu, R. Banabic, O. Cret 108
Feature-Based Laser Scan Matching For Accurate and High Speed Mobile Robot Localization A. A. Aghamohammadi, H. D. Taghirad, A. H. Tamjidi, and E. Mihankhah 114
Escaping from a Labyrinth with One-way Roads for Limited Robots B. Brüggemann, T. Kamphans, E. Langetepe 120
Session IV - SLAM 2, Navigation, Obstacle Avoidance 126
A Rao-Blackwellisation Approach to GDM-SLAM Integrating SLAM and Gas Distribution Mapping (GDM) A. J. Lilienthal, A. Loutü, J. L. Blanco, C. Galindo, J. Gonzalez 126
Improved Simultaneous Localization and Mapping using a Dual Representation of the Environment K. M. Wurm, C. Stachniss, G. Grisetti, W. Burgard 132
Memory-Efficient Gridmaps in Rao-Blackwellized Particle Filters for SLAM using Sonar Range Sensors Ch. Schröter, H.-J. Böhme, H.-M. Gross 138
Orthogonal 3D-SLAM for Indoor Environments Using Right Angle Corners A. Harati, R. Siegwart 144
A Deterministic Filter for Simultaneous Localization and Odometry Calibration of Differential-Drive Mobile Robots G. Antonelli, S. Chiaverini 150
A Hybrid Kaiman Filter Based Algorithm for Real-time Visual Obstacle Detection E. Einhorn, Ch. Schröter, H.-J. Böhme, H.-M. Gross 156
Programming Mobile Robots by Demonstration through System Identification O. Akanyeti, U. Nehmzow, C. Weinrich, T. Kyriacou and S. A. Billings 162
V
Session V - Vision-based Navigation 168
A geometrically constrained image similarity measure for visual mapping, localization and navigation B. Kröse, O. Booij, Z. Zivkovic 168
Top-down Attention Supports Visual Loop Closing S. Frintrop, A. B. Cremers 174
Delayed Features Initialization for Inverse Depth Monocular SLAM R. Munguia, A. Grau 180
Session VI - Mapping and Registration 186
Maximum-Likelihood Sample-Based Maps for Mobile Robots D. Meyer-Delius, W. Burgard 186
Vision Aided 3D Laser Based Registration H. Andreasson, A. Lilienthal 192
Parallelization of Scan Matching for Robotic 3D Mapping A. Nüchter 198
Invited Talk 204
Mobile Robots for Real World Applications: Design and Navigation R. Siegwart 204
Session VII - Human Machine Interfaees 1 205
Bayesian Controller for a Novel Semi-Autonomous Navigation Concept X. Petrin, R. Chavarriaga, R. Siegwart, J. del R. Millän 205
Are you still following me? S. Müller, E. Schaffernicht, A. Scheidig, H.-J. Böhme, H.-M. Gross 211
Session VIII - Human Machine Interfaces 2 217
Comparison of Wheelchair User Interfaces for the Paralysed: Head-Joystick vs. Verbal Path Selection from an offered Route-Set Ch. Mandel, U. Frese 217
Estimation of Pointing Poses for Visual Instructing Mobile Robots under Real World Conditions Ch. Martin, F.-F Steege, H.-M. Gross 223
Session IX - Visual Tracking and Navigation 229
Abstracting any Vehicle Shape and the Kinematics and Dynamic Constraints from Reac-tive Collision Avoidance Methods /. Minguez, L. Montano 229
VI
Real-time 3D Ball Recognition using Perspective and Catadioptric Cameras A. Voigtiänder, S. Lange, M. Lauer, M. Riedmiller 235
Session X - Localization 241
Using RFID Snapshots for Mobile Robot Self-Localization S. Schneegans, P Vorst, A. Zell 241
Improved Mixture Representation in Real-Time Particle Filters for Robot Localization D. L. Rizzini, S. Caselli 247
SIFT, SURF and Seasons: Long-term Outdoor Localization Using Local Features Ch. Valgren, A. Lilienthal 253
Session XI - Bio-inspired and bio-analogous Systems 259
Swarm-supported Outdoor Localization with Sparse Visual Data M. Kronfeld, Ch. Weiss, A.Zell 259
Teaching Robots how to become Autonomous N. Goerke, J. Illerhues, S. Lohn 265
Neural Fields for Real-Time Navigation of an Omnidirectional Robot M. Oubbati, G. Palm 271
Author Index 277
VII