The TumBot project
 | Research Statement
[ps.gz]
[pdf]
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 | Applying Laser-Scan-Matching |
 | Stereo-Vision and 3D Reconstruction |
 | 2D/3D-Mapping (Map Building) |
 | Robust Autonomous Navigation/Exploration |
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 | Related Literature |
| A more comprehensive list and discussion
of related work will be included in my PhD thesis. |
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 | Utilized Software |
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 | Used Hardware | |
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 | Jan Bandouch | |
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Stereo Vision for Collision Avoidance
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 | Andreas Hofhauser | |
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1. Trajectory-Based Collision Avoidance (Master Thesis)
    In this context he also supported (by help & contribution)
    the work of Andreas Iizuka.
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2. Synchronizing sensor data with odometry for different sensors,
    in particular Laser Range Finder (Hardware, Simulator, LogFiles),
    Stereo-Cameras, Sonar (implemented in TumBot-Modules/Server)
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3. Lots of contributions to several modules, namely
    Utilities, Geometry2D, ScanMatching, ConfigFileParser
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 | Thomas Weber | |
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Weighted Gateway Detection, Data-Acquisition
and Contributions to other modules like
Utilities, Geometry2D and ScanMatching
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 | Andreas Iizuka | |
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Trajectory-based control of the robot dynamics
(to be used in collision avoidance)
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 | Friedrich Ulrich | |
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Region-based Localization using particle filter,
for now solely based on laser range data
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 | Stefan Plafka | |
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Region-based Path Planning using framed Quad Trees
Contributions to the ScanMatching module
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 | Jochen Strunck | |
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Global Path Planning using A-Star search,
based on the topological description of an RG Map
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 | Stefan Hinterstoisser | |
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1. Development/Implementation of Speech Generator module
    using both the onboard speech-synthesis-card and
    standard audio-players to play-back audio-files
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2. Stereo module based on the Small Vision System and the Halcon
    Vision Libraries (see also "Utilized Software")
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3. Calibration of the cameras using Halcon
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4. Supported the development of new controller boards for pioneer
    robots in the context of the Agilo-RoboCup-Project
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 | Wolfgang Köbler | |
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1. Proxy module to connect the TumBot-Modules with
    the Rhino-Navigation-Software
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2. TourGuide-Scenario (Planning etc.)
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 | Markus Huppmann and Jens Schoneboom | |
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Graphics wrapper based on Qt to separate processes and GUI
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