Proceedings Article10.1109/ROBOT.2000.845270
Practical mobile robot self-localization
Jon Howell,Bruce R. Donald +1 more
- 24 Apr 2000
- Vol. 4, pp 3485-3492
TL;DR: This paper describes experiments in which a robot simultaneously makes a map and localizes to that map, a collection of tangent vectors constructed from stored sonar readings localized to a series of estimated poses.
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Abstract: A map-making robot integrates accumulated sensor data into a data structure that can be used for future localization or planning operations Localization is the process of determining the robot's location within its environment This paper describes experiments in which a robot simultaneously makes a map and localizes to that map The map is a collection of tangent vectors constructed from stored sonar readings localized to a series of estimated poses The vectors retain sensed surface normal information to improve accuracy The localization scheme is a Hough transform into a space described by the robot's current sonar scan The Hough transform finds a best fit in the presence of both sporadic sensor noise and discretization error
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Citations
Patent
Bioelectromagnetic interface system
Bran Ferren,W. Daniel Hillis,Roderick A. Hyde,Muriel Y. Ishikawa,Edward K. Y. Jung,Eric C. Leuthardt,Nathan P. Myhrvold,Clarence T. Tegreene,Lowell L. Wood,Victoria Y.H. Wood +9 more
- 04 May 2007
TL;DR: Lumen-traveling biological interface devices and associated methods and systems are described in this paper, where a propelling mechanism is used to produce movement of the lumen traveling device within a body lumen, electrodes or other electromagnetic transducers are used for detecting biological signals and electrodes, coils or other EM transducers for delivering electromagnetic stimuli to stimulus responsive tissues.
114
Patent
Lumen-traveling biological interface device
Bran Ferren,W. Daniel Hillis,Roderick A. Hyde,Muriel Y. Ishikawa,Edward K. Y. Jung,Eric C. Leuthardt,Nathan P. Myhrvold,Clarence T. Tegreene,Lowell L. Wood,Victoria Y.H. Wood +9 more
- 03 May 2007
TL;DR: Lumen-traveling biological interface devices as discussed by the authors have been used to detect biological signals and to deliver electromagnetic stimuli to stimulus responsive tissues in a body lumen, and have been shown to be useful in medical applications.
111
Patent
Lumen-traveling biological interface device and method of use
Bran Ferren,W. Daniel Hillis,Roderick A. Hyde,Muriel Y. Ishikawa,Edward K. Y. Jung,Eric C. Leuthardt,Nathan P. Myhrvold,Clarence T. Tegreene,Lowell L. Wood,Victoria Y.H. Wood +9 more
- 12 Jul 2011
TL;DR: Lumen-traveling biological interface devices and associated methods and systems are described in this paper, where a propelling mechanism is used to produce movement of the lumen traveling device within a body lumen, electrodes or other electromagnetic transducers are used for detecting biological signals and electrodes, coils or other EM transducers for delivering electromagnetic stimuli to stimulus responsive tissues.
99
Patent
Autofluorescent imaging and target ablation
Edward S. Boyden,Roderick A. Hyde,Muriel Y. Ishikawa,Eric C. Leuthardt,Nathan P. Myhrvold,Dennis J. Rivet,Thomas A. Weaver,Lowell L. Wood +7 more
- 24 Aug 2007
TL;DR: In this paper, the authors present a survey of autofluorescent imaging and ablation devices and their application in computer systems and computing devices related to the ablation of fluorescent images.
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Patent
Lumenally-active device
Lowell L. Wood,Elizabeth A. Sweeney,Victoria Y.H. Wood,W. Daniel Hillis,Richa Wilson,Roderick A. Hyde,Edward K. Y. Jung,Clarence T. Tegreene,Muriel Y. Ishikawa,Bran Ferren,Nathan P. Myhrvold +10 more
- 12 Apr 2006
TL;DR: In this article, a lumenally-active device is positioned in a body lumen of an organism, where the device may sense a parameter of a fluid in the body Lumen and perform an action on the fluid.
84
References
High resolution maps from wide angle sonar
Hans P. Moravec,Alberto Elfes +1 more
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TL;DR: The use of multiple wide-angle sonar range measurements to map the surroundings of an autonomous mobile robot deals effectively with clutter, and can be used for motion planning and for extended landmark recognition.
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On the representation and estimation of spatial uncertainly
Randall Smith,Peter Cheeseman +1 more
TL;DR: In this paper, a general method for estimating the nominal relationship and expected error (covariance) between coordinate frames representing the relative locations of objects is described. But this method can be used to answer such questions as whether a camera attached to a robot is likely to have a particular reference object in its field of view.
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Randall Smith,Peter Cheeseman +1 more
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TL;DR: The method presented can be generalized to six degrees offreedom and provides a practical means of mating the relationships among objects, as well as estimating the uncertainty associated with the relationships.
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Sonar-based real-world mapping and navigation
Alberto Elfes
- 01 Jun 1987
TL;DR: In this article, a sonar-based mapping and navigation system for an autonomous mobile robot operating in unknown and unstructured environments is described, where range measurements from multiple points of view are integrated into a sensor level sonar map, using a robust method that combines the sensor information in such a way as to cope with uncertainties and errors in the data.
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Sensor fusion in certainty grids for mobile robots
TL;DR: In this article, a software framework running on processors onboard the new Uranus mobile robot is proposed to maintain a probabilistic, geometric map of the robot's surroundings as it moves.