This project is the outcome of the collaborative effort between Fredy Tungadi and myself. This system aims to ensure the lifelong operation of the mobile robot by equipping it with map merging capabilities such that the robot can be switched on and off at different times and days and at different locations in a fully or partially static environment. It is equipped with two Hokuyo laser rangefinders and an omnidirectional vision system and performs map merging by using laser scan matching and a probabilistic place recognition system based on omnidirectional images.

For more information, please refer selected publication.

Selected Publication

Robust Online Map Merging System using Laser Scan Matching and Omnidirectional Vision
F. Tungadi, W. L. D. Lui, L. Kleeman, and R. Jarvis
Proceedings of the IEEE International Conference on Intelligent Robots and Systems, Taipei, Taiwan, 2010, pp. 7-14
DOI: http://dx.doi.org/10.1109/IROS.2010.5654446