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ECSE Departmental Research Seminar, 15-03-2006

Title: Localisation for mobile robots using vision and laser range data

Speaker: Nghia Kien Ho, E&CSE, Monash University

Abstract:

Mobile robot navigation consists of moving a robotic vehicle through an obstacle field on an efficient collision-free path to a nominated goal. Knowing where the robot is (localisation) in the context of its working environment is critical to this task. In some cases, the initially unknown environment is, itself, mapped as the robot localises within it.

However, in many realistic situations a map of the environment is available yet navigation still requires the location of the robot to be determined so that a devised path through the environment might be followed. This work reports on the task of sensor driven, natural landmark based localisation in an environment modelled using 3D range and image data extracted from a Riegl LMS-Z420i Terrestrial Laser Scanner. This talk emphasises the process of integrating data from many scans at a variety of locations and some fast visualisation methodology as preliminary work towards the end.

About the speaker:

Nghia Ho has completed a bachelor degree in Computer Systems Engineering at Monash University in 2004 and has been working on a MEngSc by Research degree at Monash University from March 2005. He is working under the supervision of Professor Ray Jarvis and A/Professor David Suter.

  
Visitors Information
A map of the Clayton Campus of Monash University indicates the venue, Building 72, and visitor parking on the top floor of the North carpark, Building 76.

Limited reserved parking spaces are available for visitors attending the seminar. (Requests for parking should be made in advance)