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Roland Siegwart

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Publications associées (72)

Orthogonal SLAM: a Step toward Lightweight Indoor Autonomous Navigation

Roland Siegwart, Nicola Tomatis

2006

Thick-Film Radial Position Sensor for High Temperature Active Magnetic Bearings

Thomas Maeder, Roland Siegwart, Beat Aeschlimann, Luc Burdet

This paper presents the development of radial eddy-current position sensors for high temperature active magnetic bearing (AMB) applications. Thick-film technology was used to realize silver coils printed on ceramic substrates. Long term measurements showed ...

2006

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

Roland Siegwart, Davide Scaramuzza

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 ...

2006

Motion Planning for Nonholonomic Platforms in Dynamic Scenarios

Roland Siegwart

2006

PISA: PI Software Architecture for Integrated Satellite Payload Controllers

Frédéric Pont, Roland Siegwart

2006

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

Bi-pedal Robot for Rescue Operations

Francesco Mondada, Roland Siegwart, Michael Bonani, Noémy Scheidegger

2006

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

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

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

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

Towards a Cognitive Probabilistic Representation of Space for Mobile Robots

Roland Siegwart

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 ...

2006

Robot-Animal Interaction: Perception and Behavior of Insbot

Roland Siegwart, Gilles Caprari, Walter Karlen, Fabien Tâche, Masoud Asadpour

This paper describes hardware and behavior implementation of a miniature robot in size of a match box that simulates the behavior of cockroaches in order to establish a social interaction with them. The robot is equipped with two micro-processors dedicated ...

2006

Improving the Consistency of Relative Map

Roland Siegwart

2006

The Hippocampal Place Cells and Fingerprints of Places: Spatial Representation Animals, Animats and Robots

Roland Siegwart, Adriana Tapus

2006

Topological Global Localization and Mapping with Fingerprint and Uncertainty

Roland Siegwart, Nicola Tomatis, Adriana Tapus

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

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

Simple Form Recognition using Bayesian Programming

Guy Ramel, Roland Siegwart, François Aspert, Adriana Tapus

The environment that surrounds us is very complex. Understanding and interpreting it is a very hard task. This paper proposes an approach allowing simple form recognition with a camera by using a probabilistic approach called Bayesian Programming. The main ...

2006

Motion Planning in the Presence of Moving Obstacles using RRT Search and B-splines

Roland Siegwart

2006

Automatic Self-Calibration of a Vision System during Robot Motion

Roland Siegwart, Davide Scaramuzza

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 ...

2006

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