Path Planning with Deformable Objects (2008)

Robot moving through a curtain
Frank et al., ICRA'08
(avi)
Robot deforming a cow
Frank et al., ICRA'08
(avi)
Robot motion planning in deformable world
Frank et al., ICRA'08
(avi)

3D Pose Optimization / VisionSLAM (2007)

Optimization of a sphere using TORO3D
Grisetti et al., IROS'07
(avi)
The return of the blimp
Steder et al., IROS'07
(avi)
Visual SLAM with a downlooking camera
Steder et al., IROS'07
(avi)

Autonomous Cars (2006)

Smart car driving at EPFL campus at 15km/h
(wmv) | (avi)
Steering filmed from the inside of the car at EPFL campus
(wmv) | (avi)
Smart car in traffic at EPFL campus
(wmv) | (avi)

2005-2006: Learning Maps


Mapping the Intel Reserach Lab
3D view of the best particle
mapping the Intel Research Lab
Learning voronoi maps
 

Mapping the Freiburg campus
Mapping the MIT Killian Court
(fast video)      (slow video)
Mapping with particle recovery technnique

2005-2006: Semantic Place Labeling



Estimating the current place label based on laser data. Yellow refers to doorway, red to corridors, and blue to rooms.
Estimating the current place label based on laser and vision data. A HMM is applied to filter the output of the classifier.

2004-2006: Uncertainty-Driven Exploration


Real world exploration using the information gain based on the pose and map uncertainty.
Real world exploration using the information gain based on the pose and map uncertainty.
Coverage Map-based exploration based on the map uncertainty
 

Active loop closing based on a dual representation of the environment.
Exploration with active loop closing.
Exploration with active loop closing.

2003-2004: Multi-Robot Exploration


Real world multi-robot exploration with limited communication. The discs illustrate the communication range of the individual robots