ECMR 2007 Proceedings of the 3rd European Conference on ...

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

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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

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