Sensor fusion in certainty grids for mobile robots
Sensor devices and systems for robotics
A Method for Registration of 3-D Shapes
IEEE Transactions on Pattern Analysis and Machine Intelligence - Special issue on interpretation of 3-D scenes—part II
A comparison of four algorithms for estimating 3-D rigid transformations
BMVC '95 Proceedings of the 1995 British conference on Machine vision (Vol. 1)
Simultaneous localization, mapping and moving object tracking
Simultaneous localization, mapping and moving object tracking
Robotics and Autonomous Systems
6D SLAM—3D mapping outdoor environments: Research Articles
Journal of Field Robotics
Globally consistent 3D mapping with scan matching
Robotics and Autonomous Systems
Benchmarking urban six-degree-of-freedom simultaneous localization and mapping
Journal of Field Robotics
Improved Techniques for Grid Mapping With Rao-Blackwellized Particle Filters
IEEE Transactions on Robotics
Johnny: An Autonomous Service Robot for Domestic Environments
Journal of Intelligent and Robotic Systems
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Presented in this paper is a complete system for robust autonomous navigation in cluttered and dynamic environments. It consists of computationally efficient approaches to the problems of simultaneous localization and mapping, path planning, and motion control, all based on a memory-efficient environment representation. These components have been implemented and integrated with additional components for human-robot interaction and object manipulation on a mobile manipulation platform for service robot applications. The resulting system performed very successfully in the 2008 RoboCup@Home competition.