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The TumBot project

Research Statement [ps.gz] [pdf]
Applying Laser-Scan-Matching
Stereo-Vision and 3D Reconstruction
2D/3D-Mapping (Map Building)
Robust Autonomous Navigation/Exploration
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Details, Results and Publications on Region & Gateway Mapping
List of Publications
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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
Mobility:  CORBA-based Module Framework from iRobot Corporation
HALCON-Library from MVTec Software GmbH
for Image Processing and Geometric Interpretation :
Local Installation of the HALCON-Documentation,
Doxygen-generated Documentation extracted from the HALCON-Cpp Header Files,
Original Documentation provided by MVTec Software GmbH
ScanStudio-Library from Steffen Gutmann
Rhino/BeeSoft from Lehrstuhl der Informatik III
(Intelligente Autonome Systeme), Universität Bonn
SmallVisionSystem Stereo-Software sold by Videre Design
developed by Stanford Research Institute (SRI)
Qt-Library for Visualization from Trolltech AS
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Used Hardware
B21r Robot from iRobot Corporation, formerly Real World Interfaces (RWI)
  ...and a bit more detailed/illustrated...
Cameras (2xLV8500) & Framegrabber (PicPort-Stereo) are from Leutron Vision
  ...easily controlled and grabbed with the use of HALCON
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Jan Bandouch
Stereo Vision for Collision Avoidance
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Andreas Hofhauser
1. Trajectory-Based Collision Avoidance (Master Thesis)
    In this context he also supported (by help & contribution)
    the work of Andreas Iizuka.
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)
3. Lots of contributions to several modules, namely
    Utilities, Geometry2D, ScanMatching, ConfigFileParser
Thomas Weber
Weighted Gateway Detection, Data-Acquisition
and Contributions to other modules like
Utilities, Geometry2D and ScanMatching
Andreas Iizuka
Trajectory-based control of the robot dynamics
(to be used in collision avoidance)
Friedrich Ulrich
Region-based Localization using particle filter,
for now solely based on laser range data
Stefan Plafka
Region-based Path Planning using framed Quad Trees
Contributions to the ScanMatching module
Jochen Strunck
Global Path Planning using A-Star search,
based on the topological description of an RG Map
Stefan Hinterstoisser
1. Development/Implementation of Speech Generator module
    using both the onboard speech-synthesis-card and
    standard audio-players to play-back audio-files
2. Stereo module based on the Small Vision System and the Halcon
    Vision Libraries (see also "Utilized Software")
3. Calibration of the cameras using Halcon
4. Supported the development of new controller boards for pioneer
    robots in the context of the Agilo-RoboCup-Project
Wolfgang Köbler
1. Proxy module to connect the TumBot-Modules with
    the Rhino-Navigation-Software
2. TourGuide-Scenario (Planning etc.)
Markus Huppmann and Jens Schoneboom
Graphics wrapper based on Qt to separate processes and GUI


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