Publications de Viet Tuan Nguyen

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This thesis is about feature-based mobile robot navigation in unknown environments. The work is focusing on solving the problem of Simultaneous Localization and Mapping (SLAM) including feature extraction, estimation and complete map building solution. The ...

Robots are rapidly evolving from factory workhorses to robot-companions . The future of robots, as our companions, is highly dependent on their abilities to understand, interpret and represent the environment in an efficient and consistent fashion, in a ...

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 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 ...

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 ...

Viet Tuan Nguyen

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Feature-based SLAM using relative quantities and structural knowledge

Towards a Cognitive Probabilistic Representation of Space for Mobile Robots

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

Results on Range Image Segmentation for Service Robots

Orthogonal SLAM: a Step toward Lightweight Indoor Autonomous Navigation

Improving the Consistency of Relative Map

Handling the Inconsistency of Relative Map Filter