• VR(Vision and Range sensor) - indoor SLAM
    • Description
      • One of SLAM solutions for indoor environment using inexpensive sensors based on EKF
      • Making visual plane using salient visual features from stereo vision and line features from sonar data  
      • An uncertainty of depth information from stereo vision was reduced using line features from sonar data

    • Multiple sensor fusion: Stereo web-camera + ultrasonic sensors
    • Improving performance of low-cost sensors
    • Practical SLAM solution for indoor environments
                                                       VRSLAM indoor SLAM using sonar sensors and stereo vision




  • UFastSLAM filter
    • Descriptions
      • Robust SLAM framework based on particle filter
      • UFastSLAM uses Unscented transform to consider non-gaussian probability
      • UFastSLAM shows much better consistency & robustness than original framework
    • Experiments
      • UFastSLAM in Home
      • UFastSLAM in Corridor

    • Result