1. Sensors for industrial mobile Robots: environment referred laser scanning
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2. environment referred laser scanning
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3. Ranging sensors
Ranging sensors

4. Ranging sensors – phase measurement

5. Ranging sensors – time measurement
object
Ranging sensors – time measurement

6. problems Ranging sensors … Reflective surface Adsorbing surface
multipath
… Reflective surface
Adsorbing surface
Ranging sensors

7. Scanning

9. Video:
Agile.m4v
RoboSerse Scansioni laser 2.mp4
SLAM with safety laser blurred.mp4
Fai vedere mappe acquisite con laser rangefinders + ICP per incremental o absolute localization

10. Global Navigation System
Operating principle:
Output uncertainty depends on:
# of reflector detected
Vehicle translational speed
Vehicle rotational speed
Measurement compared with a MAP
NO UNCERTAINTY PROPAGATION (with previous measurements)
Global Localization

12. Indoor localization by means of video camera and markers on the ceiling

13. Video camera with markers
Tavole ArUco
Camera PointGray
AGV
Visual Studio 2010 C++
Video camera with markers

14. Main steps Analysis and Optimization Global Map Final calibration
Camera calibration
Landmark identification
Global Map
Final calibration
Video camera with markers

15. Camera calibration Intrinsic parameters: fx,fy: focal lenght
cx,cy:  optical center
k1,k2,p1,p2: radial and tangential distortion parameters.
Video camera with markers

16. Uncertainty estimation as a function of the number of landmarks (visible markers)
Uncertainty parameters:
Marker dimensions
Number of identified markers
Distance from the optical axis
Calibration plots
Video camera with markers

17. Graph based SLAM Video camera with markers Landmark: Measurement:
Status:
Input:
Video camera with markers

18. SLAM – Bayesian vs Graph-Based Graph-Based Full SLAM:
Bayesian SLAM
Only way:
use of the map
Online SLAM:
Data fusion is based on the map (“hidden” poses connections)
Graph-Based Full SLAM:
Data fusion between all the poses (and map)
Video camera with markers

19. Video camera with markers
Video camera with markers

20. Video camera with markers
Notice the increment of uncertainty in the border regions where only few markers are visible!
Video camera with markers