Publications by Agostino Martinelli

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Recent studies on multi-robot localization have shown that the uncertainty of robot location may be considerably reduced by optimally fusing odometry and the relative angles of sight (bearing) among the team members. However, the latter requires the capabi ...

In this paper we consider the problem of simultaneously localizing all members of a team of robots. Each robot is equipped with proprioceptive sensors and exteroceptive sensors. The latter provide relative observations between the robots. Proprioceptive an ...

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. ...

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 an experimental evaluation of different line extraction algorithms on 2D laser scans for indoor environment. Six popular algorithms in mobile robotics and computer vision are selected and tested. Experiments are performed on 100 real da ...

This paper presents a new technique to estimate the extrinsic parameters of a robot-vision sensor system. More in general, this technique can be adopted to calibrate any robot bearing sensor. It is based on the Extended Kalman Filter. It is very simple and ...

In \cite{martinelli_2004_open_challenges_in}, a version of Relative Map Filter (\RMF) is proposed to solve the simultaneous localization and map building (SLAM) problem. In the \RMF, the map states contain only quantities invariant under shift and rotat ...

Agostino Martinelli

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Precise Bearing Angle Measurement Based on Omnidirectional Conic Sensor and Defocusing

Multi-Robot Localization Using Relative Observations

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

A Toolbox for Easily Calibrating Omnidirectional Cameras

Theoretical Results on On-line Sensor Self-Calibration

A Comparison of Line Extraction Algorithms using 2D Laser Rangefinder for Indoor Mobile Robotics

Automatic Self-Calibration of a Vision System during Robot Motion

Orthogonal SLAM: a Step toward Lightweight Indoor Autonomous Navigation

Observability Analysis for Mobile Robot Localization

Improving the Consistency of Relative Map

Handling the Inconsistency of Relative Map Filter

Some Results on SLAM and the Closing the Loop Problem