http://hdl.handle.net/10453/213 Wed, 22 May 2013 19:26:07 GMT 2013-05-22T19:26:07Z http://hdl.handle.net/10453/12748 An algorithm for surface growing from laser scan generated point clouds Paul Gavin; Liu Dikai; Kirchner Nathan T.-J. Tarn, S.B. Chen and C. Zhou n robot applications requiring interaction with a partially/unknown environment, mapping is of paramount importance. This paper presents an effective surface growing algorithm for map building based on laser scan generated point clouds. The algorithm directly converts a point cloud into a surface and normals form which sees a significant reduction in data size and is in a desirable format for planning the interaction with surfaces. It can be used in applications such as robotic cleaning, painting and welding. Mon, 01 Jan 2007 00:00:00 GMT http://hdl.handle.net/10453/12748 2007-01-01T00:00:00Z http://hdl.handle.net/10453/11651 Implementation Issues and Experimental Evaluation of D-SLAM Wang Zhan; Huang Shoudong; Dissanayake Gamini Peter Corke, Salah Sukkarieh` Sun, 01 Jan 2006 00:00:00 GMT http://hdl.handle.net/10453/11651 2006-01-01T00:00:00Z http://hdl.handle.net/10453/11649 Tradeoffs in SLAM with sparse information filters Wang Zhan; Huang Shoudong; Dissanayake Gamini Christian Laugier, Roland Siegwart Designing filters exploiting the sparseness of the information matrix for efficiently solving the simultaneous localization and mapping (SLAM) problem has attracted significant attention during the recent past. The main contribution of this paper is a review of the various sparse information filters proposed in the literature to date, in particular, the compromises used to achieve sparseness. Two of the most recent algorithms that the authors have implemented, Exactly Sparse Extended Information Filter (ESEIF) by Walter et al. [5] and the D-SLAM by Wang et al. [6] are discussed and analyzed in detail. It is proposed that this analysis can stimulate developing a framework suitable for evaluating the relative merits of SLAM algorithms. Tue, 01 Jan 2008 00:00:00 GMT http://hdl.handle.net/10453/11649 2008-01-01T00:00:00Z http://hdl.handle.net/10453/7879 Stereo Vision Based SLAM: Issues and Solutions Herath Herath Mudiyanselage; Kodagoda Sarath; Dissanayake Gamini Goro Obinata and Ashish Dutta Mon, 01 Jan 2007 00:00:00 GMT http://hdl.handle.net/10453/7879 2007-01-01T00:00:00Z