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Research Work done by Albert Diosi

The research I am allowed to talk about comes from these sources:

Brief description of the research in reverse chronological order:

Self Sponsored Research


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:
First prototype of Mappino (v0.1) as viewed from the right. Range scans of a bathroom prior matched by Mappino. Range scans of a bathroom after matched by Mappino.

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.

Post Doc in the Lagadic Group of IRISA/INRIA Rennes

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:-):
Cycab driving under a building. Cycab driving around a lake in a 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):

PhD Research at the Intelligent Robotics Research Centre of Monash University

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:-).:
The robot SLAMBot which I was using during my PhD studies. Feature based SLAM map built by SLAMBot. Registered laser scans are overlaid on the map. The laser calibration tool I have built to gain an understanding of the caracteristics of laser range finder errors.

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