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                GI-Demo
                TUMIX - the old department floor
                TUMIX - Localization
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The first one is taken from a demonstration that was given
for a group of people from the "Gesellschaft für Informatik"
in February '02 in Munich at the RoboCup-Lab. The actual outlines
come from a middle-size robot-soccer field. We simply added
several walls to form this simple indoor environment.
Click on the image to watch the exploration.

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This experiment was collected in our old department floor at the
Orleanstr. 34 in Munich. As with the GI-Demo you see the robot
segments the environment into regions and gateways while it
drives through an unknown environment. Furthermore, when it
leaves a region it takes the collected data and computes a
compact 2D map of line segments for that region. The map is
represented by a list of regions and a list of gateways.
For further detail refer to the following publication:

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Here we take the original scans and compare them to 360-degree-scans
retrieved from the RG-map to keep localized. This is not a trivial
question since the compact 2D line map is quite an abstraction
of the real world. Therefore it is worthwhile to investigate
if such a map holds still enough detail for localization.
No Kalman-Filtering or the like is performed !!!

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