The research I am allowed to talk about comes from these sources:
Brief description of the research in reverse chronological order:
Here are photos of the first Mappino prototype (Mappino v0.1) and the first range scan matching results including scans before and after the matching:
The work done on Mappino is not really scientific research as the contributions have more of an engineering and educational character. The questions addressed in the research were:
Mappino is equipped with Sharp IR range sensors and capable of taking 360 degree range scans. Mappino's 8bit micro-controller (programmable with the Arduino IDE) is capable of matching the scans in about 150ms.
The work regarding Mappino has been presented at the 2011 Robotics in Education Conference. More about Mappino including the presented paper can be read here.
Mappino is an open source robot. However for those robotics enthusiasts who would like to have a Mappino, but don't want to build one, the start-up company ABC Robotics, s.r.o. is preparing a version they can buy.
In 2006-2007 I have spend about 10 months at the Lagadic Group at IRISA/INRIA Rennes in France as a Post Doc doing research on autonomous car navigation using visual servoing. I was working with Sinisa Segvic, Anthony Remazeilles and Francois Chaumette. As my involvement with the project included getting Cycab running under autonomous control using visual servoing and doing heaps of experiments, I got heaps of practical help from Fabien Spindler who is an excellent research engineer.
Photos of the cyber taxi CyCab driving autonomously under a building and then doing a relaxing drive in the park:-):
A video showing how the vision system on CyCab worked:
A video showing CyCab going at 1.8m/s and parking itself into its own garage (after it was shown what to do):
Thanks to being awarded the MGS and MIPRS scholarships, during the years of 2001-2005 I was doing my PhD studies at the Intelligent Robotics Research Centre (IRRC) of Monash University in Melbourne, Australia. I could not have hoped for better supervision as my supervisor was A/Prof Lindsay Kleeman and my associate supervisor was A/Prof Andy Russell. I submitted my thesis in a bit over 3.5 years which then won the Douglas Lampard Electrical Engineering Research Prize and Medal for 2006 (citation).
During my PhD studies, I have focussed on the following topics:
I was lucky during my PhD, as I for my research I could use my superversor's robot SLAMBot, which worked
reliably and had really good sensors. On the following images, you can see SLAMBot (blue boxes are the advanced sonars, yellow sensor is the laser, little black box in front of screen is a fiber optic gyroscope), a features
base SLAM map build by SLAMBot while having laser scan overlaid on the map (grid: 10x10m) and the
laser calibration tool I have built from salvaged printer parts:-).:
A video showing SLAMBot while performing Interactive SLAM:
To read more, visit my website from the times of my PhD studies at IRRC.
Copyright (c) Albert Diosi, 2011
Last changed: 01/12/2011