Albert Diosi's Research Interests

During my PhD studies I have delved into the following areas of mobile robotics under the supervision of Lindsay Kleeman:

• Fitting lines and corners to laser range finder measurements and modeling their error.
• Simultaneous localization and mapping (SLAM) using advanced sonar and laser range finder measurements.
• Occupancy grid building while performing feature based SLAM.
• Point-to-point laser scan matching in the laser rage finder's polar coordinate system. Source code can be downloaded here.

During my studies I have been using the robot SLAMbot:

SLAMbot can also be seen on a video:

Video based on "Interactive SLAM using advanced Sonar and Laser range finder", ICRA 2005 paper by Albert Diosi, Geoffrey Taylor and Lindsay Kleeman. The star of this video is SLAMbot who is following a human guide (played by Geoff Taylor), while mapping the environment. The human guide tells the robot verbally the name of each room. After the robot has been shown all around, it accepts and autonomously executes verbal commands telling the robot where to go. Short Video (1.9MB) Long Video (5.7MB)

The following figure shows a map resulting from SLAM using a laser range finder and advanced sonar arrays:

A 200kB animated gif showing how the map in the previous figure was created can be accessed here.

To create an occupancy grid, laser scans can be stored with respect to a feature based SLAM map:

A figure showing a map resulting from SLAM with polar scan matching (PSM):

A 1.2MB animated gif showing how the map in the previous figure was created can be accessed here.

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Last changed: 14/02/2006