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Roland Siegwart

Cette personne a quitté l’EPFL

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Publications associées (68)

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A Toolbox for Easily Calibrating Omnidirectional Cameras

Roland Siegwart, Davide Scaramuzza

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. ...

2006

Topological Global Localization and Mapping with Fingerprint and Uncertainty

Roland Siegwart, Adriana Tapus, Nicola Tomatis

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 ...

2006

A Perching Mechanism for Micro Aerial Vehicles

Dario Floreano, Roland Siegwart, Mirko Kovac, Jürg Markus Germann

Micro Aerial Vehicles (MAVs) with perching capabilities can be used to efficiently place sensors in aloft locations. A major challenge for perching is to build a lightweight mechanism that can be easily mounted on a MAV, allowing it to perch (attach and de ...

2010

Theoretical Results on On-line Sensor Self-Calibration

Roland Siegwart, Jan Weingarten

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 ...

2006

Robots Meet Humans Interaction in Public Spaces

Roland Siegwart, Nicola Tomatis, Björn Jensen

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 ...

2005

Toward a Multilevel Cognitive Probabilistic Representation of Space

Roland Siegwart, Adriana Tapus, Shrihari Vasudevan

This paper addresses the problem of perception and representation of space for a mobile agent. A probabilistic hierarchical framework is suggested as a solution to this problem. The method proposed is a combination of probabilistic belief with Object Grap ...

2005

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

Roland Siegwart, Nicola Tomatis

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 ...

2005

Reasoning of abstract motion of a target object through task order with natural language pre-knowledge of object-handling-task programming for a service robot

Roland Siegwart

2006

Toward Micro Wall-Climbing Robots Using Biomimetic Fibrillar Adhesives

Roland Siegwart, Gilles Caprari, Fabien Tâche

Climbing is a challenging task for autonomous mobile robots primarily due to requirements for agile locomotion, and high maneuverability as well as robust and efficient attachment and detachment. A novel miniature wall-climbing robot is proposed. The robot ...

2005

3D SLAM using Planar Segments

Roland Siegwart, Jan Weingarten

This paper presents an improved feature-based 3D SLAM approach for a mobile robot equipped with a rotating laser scanner. The features are represented within the SPmodel, with associated planar segment information based on decimated triangle sets. An Exten ...

2006

Stereo-Based Ego-Motion Estimation Using Pixel Tracking and Iterative Closest Point

Roland Siegwart

In this paper, we present a stereovision algorithm for real-time 6DoF ego-motion estimation, which integrates normalized cross-correlation-based feature tracking and 3D stereo information in the well-known Iterative Closest Point (ICP) scheme. The proposed ...

2006

Laser Range Imaging using Mobile Robots: From Pose Estimation to 3d-Models

Roland Siegwart, Jan Weingarten, Sascha Kolski, Björn Jensen

2005

Results on Range Image Segmentation for Service Robots

Stefan Gächter, Roland Siegwart

This paper presents an experimental evaluation of a plane extraction method using various line extraction algorithms. Four different algorithms are chosen, which are well known in mobile robotics and computer vision. Experiments are performed on two sets o ...

2006

Quadrupedal robots with stiff and compliant actuation

Roland Siegwart

In the broader context of quadrupedal locomotion, this overview article introduces and compares two platforms that are similar in structure, size, and morphology, yet differ greatly in their concept of actuation. The first, ALoF, is a classically stiff act ...

2012

An Interpolated Dynamic Navigation Function

Roland Siegwart, Roland Philippsen

The E-star algorithm is a path planning method capable of dynamic replanning and user-configurable path cost interpolation. It calculates a navigation function as a sampling of an underlying smooth goal distance that takes into account a continuous notion ...

2005

Backstepping and Sliding-mode Techniques Applied to an Indoor Micro Quadrotor

Roland Siegwart, Samir Bouabdallah

The latest technological progress in sensors, actuators and energy storage devices enables the developments of miniature VTOL systems. In this paper we present the results of two nonlinear control techniques applied to an autonomous micro helicopter called ...

2005

3D Position Tracking in Challenging Terrain

Roland Siegwart, Pierre Lamon

The intent of this paper is to show how the accuracy of 3D position tracking can be improved by considering rover locomotion in rough terrain as a holistic problem. An appropriate locomotion concept endowed with a controller min- imizing slip improves the ...

2005

Design and Control of an Indoor Coaxial Helicopter

Roland Siegwart, Gilles Caprari, Samir Bouabdallah

This paper presents the design and preliminary control of an indoor coaxial helicopter �CoaX� based on a concept of hybrid active and passive control. The robot is capable of passive roll and pitch stabilization against small disturbances while a ...

2006

Comprehensive Locomotion Performance Evaluation of All-Terrain Robots

Thomas Thüer, Roland Siegwart

Information about the locomotion performance of known rovers is sparse. A comprehensive evaluation of wheeled passive systems is presented in this work. It is based on a static 2D approach that includes optimization of the wheel torques in order to minimiz ...

2006

Compact Magnetic Wheeled Robot with High Mobility for Inspecting Complex Shaped Pipes Structures

Roland Siegwart, Francesco Mondada, Roland Moser, Fabien Tâche

IEEE Press2007