Publications by Roland Siegwart

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Motion detection from mobile platforms is a challenging task. It requires precise position information, which is difficult in cluttered dynamic environments. We combine motion detection and position estimation using Expectation Maximization. To reduce the computational time of this iterative approach, we segment the scan into feature elements which are then compared against an a-priori map. The motion detection is tested on real world data from a mass exhibition, showing correct classification. As one appli

In this paper the metric and topological paradigm are integrated in a single system for both localization and map building. A global topological map connects local metric maps, allowing a compact environment model, which does not require global metric consistency and permits both precision and robustness. Furthermore, the approach permits to handle loops in the environment by automatic mapping using the information of the multimodal topological localization. The system uses a 360 degree laser scanner to ext

This paper presents a navigation framework which enables multiple mobile robots to attain individual goals, coordinate their actions and work safely and reliably in a highly dynamic environment. We give an overview of the framework architecture, its layering and the subsystems reactive obstacle avoidance, local path planning, global path planning, multi-robot planning and localization. The latter receives particular attention as the localization problem is a key issue for navigation in unmodified and diffic

The Autonomous Systems Lab of EPFL3 is developing, within the framework of an ESA program, an ultra-lightweight solar autonomous model airplane called Sky-Sailor with embedded navigation and control systems. The main goal of this project is to jointly unde ...

In this paper a multisensor setup for localization consisting of a 360 degree laser range finder and a monocular vision system is presented. Its practicability under conditions of continuous localization during motion in real-time (referred to as on-the-fly localization) is investigated in large-scale experiments. The features in use are infinite horizontal lines for the laser and vertical lines for the camera providing an extremely compact environment representation. They are extracted using physically wel

This paper presents a method for probabilistic plane fitting and an application to robotic 3D mapping. The plane is fitted in an orthogonal least-square sense and the output complies with the conventions of the Symmetries and Perturbation model (SPmodel). In the second part of the paper, the presented plane fitting method is used within a 3D mapping application. It is shown that by using probabilistic information, high precision 3D maps can be generated

This paper describes the Magnebike robot, a compact robot with two magnetic wheels in a motorbike arrangement, which is intended for inspecting the inner casing of ferromagnetic pipes with complex-shaped structures. The locomotion concept is based on an ad ...

In this paper the metric and topological paradigms are integrated in a hybrid system for both localization and map building. A global topological map connects local metric maps, allowing a compact environment model, which does not require global metric consistency and permits both precision and robustness. Furthermore, the approach handles loops in the environment during automatic mapping by means of the information of the multimodal topological localization. The system uses a 360° laser scanner to extract

In this paper, we present a flexible new technique for single-viewpoint omnidirectional camera calibration. The proposed method only re-quires the camera to observe a planar pattern shown at a few different orienta-tions. Either the camera or the planar pa ...

In this paper, we present a novel technique for calibrating central omnidirectional cameras. The proposed procedure is very fast and completely automatic, as the user is only asked to collect a few images of a checker board, and click on its corner points. ...

This paper presents an approach to solve the SLAM problem in the stochastic map framework based on the concept of the relative map. The idea consists in introducing a map state, which only contains quantities invariant under translation and rotation. This is the only way in order to have a decoupling between the robot motion and the landmark estimation and therefore not to rely the landmark estimation on the unmodeled error sources of the robot motion. The approach is general and can be applied for several

The development of miniature flying robots has become a reachable dream thanks to the new sensing and actuating technologies. Micro VTOL1 systems represent a useful class of flying robots because of their strong abilities for small-area monitoring and building exploration. In this paper, we present the results of two model-based control techniques applied to an autonomous four-rotor micro helicopter called Quadrotor. A classical approach (PID) assuming a simplified dynamics and a modern technique (LQ), base

This paper presents the effort that has been undertaken in designing and building both hardware and software for a fully autonomous navigating vehicle aimed for a tour guide application. The challenge for such a project is to combine industrial high quality production for the mobile platforms with techniques for mobile robot navigation and interaction which are currently best available in academic research. For this the experience and technology of the Autonomous Systems Lab at EPFL has been extended with t

Navigation in unknown or partially unknown environments remains one of the biggest challenges in today's mobile robotics. Environmental modeling, perception, localization and mapping are all needed for a successful approach. The contribution of this paper ...

This paper proposes an approach allowing topology learning and recognition in indoor environments by using a probabilistic approach called Bayesian Programming. The main goal of this approach is to cope with the uncertainty, imprecision and incompleteness of handled information. The Bayesian Program for topology recognition and door detection is presented. The method has been successfully tested in indoor environments with the BIBA robot, a fully autonomous robot. The experiments address both the topology l

Up to recently autonomous mobile robots were mostly designed to run within an indoor, yet partly structured and flat, environment. In rough terrain many problems arise and position tracking becomes more difficult. The robot has to deal with wheel slippage and large orientation changes. In this paper we will first present the recent developments on the off-road rover Shrimp. Then a new method, called 3D-Odometry, which extends the standard 2D odometry to the 3D space will be developed. Since it accounts for

In this paper we derive theoretical results for the problem of on-line sensor calibration for a mobile robot. We consider the case of the odometry sensor. A first series of results regards the problem of understanding if a given system (consisting of a rob ...

This paper presents experiences from Robotics, a long-term project at the Swiss National Exposition Expo.02, where mobile robots served as tour guides. It includes a description of the design and implementation of the robot and addresses reliability and sa ...

This paper presents a solution to the Simultaneous Localization and Mapping (SLAM) problem in the stochastic map framework for a mobile robot navigating in an indoor environment. The approach is based on the concept of the relative map. The idea consists in introducing a map state, which only contains quantities invariant under translation and rotation. In this way the landmark estimation is decoupled from the robot motion and therefore the estimation does not rely on the unmodeled error sources of the robo

This paper presents a localization algorithm for indoor environments. The environmental model is topological and the approach describes how a multimodal perception increases the reliability for the topological localization problem for mobile robots, by using the Bayesian Programming formalism. For the topological framework the fingerprint concept is used. This type of representation permits a reliable and distinctive environment modeling. Experimental results of a mobile robot equipped with a multi sensor s

Roland Siegwart

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Motion Detection and Path Planning in Dynamic Environments

Combining Topological and Metric: A Natural Integration for Simultaneous Localization and Map Building

A Navigation Framework for Multiple Mobile Robots and its Application at the Expo.02 Exhibition

Design of an Ultra-Lightweight Autonomous Solar Airplane for Continuous Flight

Multisensor On-the-Fly Localization Using Laser and Vision

Probabilistic Plane Fitting in 3D and an Application to Robotic Mapping

Magnebike: A Magnetic Wheeled Robot with High Mobility for Inspecting Complex-Shaped Structures

Hybrid Simultaneous Localization and Map Building: a Natural Integration of Topological and Metric

A Flexible Technique for Accurate Omnidirectional Camera Calibration and Structure from Motion

A Toolbox for Easily Calibrating Omnidirectional Cameras

Improving the SLAM Convergence with a Relative Map Filter

PID vs LQ Control Techniques Applied to an Indoor Micro Quadrotor

Building a Fully Autonomous Tour Guide Robot: Where Academic Research Meets Industry

Topological Global Localization and Mapping with Fingerprint and Uncertainty

Topology Learning and Place Recognition using Bayesian Programming for Mobile Robot Navigation

3D-Odometry for rough terrain - Towards real 3D navigation

Theoretical Results on On-line Sensor Self-Calibration

Robots Meet Humans Interaction in Public Spaces

Slam based on quantities invariant of the robot's configuration

Bayesian Programming for Topological Global Localization with Fingerprints