Multimap - Multisensor tracking and mapping

Multisensor tracking and mapping

The use of multiple sensors and sensor based robotics has been recognized as an affordable and robust solution for working with uncertainty. The project strives to take advantage of the common mathematical structure of estimation problems in robotics, sensor fusion and computer vision, in order to combine knowledge from these disciplines and develop a common mathematical framework. The framework will then be applied to motion tracking and robotic localization and mapping.

The project is funded by the Academy of Finland.

Contact information

Machine Vision and Pattern Recognition group [www]
Ville Kyrki E-Mail [www] Principal investigator

Publications

Do not hesitate to contact authors (e-mail, etc.) in order to retrieve copies of the following publications.

  1. Ville Kyrki and Danica Kragic. Tracking rigid objects using integration of model-based and model-free cues. Machine Vision and Applications, 2009.
  2. Olli Alkkiomäki, Ville Kyrki, Heikki Kälviäinen, Yong Liu, and Heikki Handroos. Complementing visual tracking of moving targets by fusion of tactile sensing. Robotics and Autonomous Systems, 57(11):1129-1139, November 2009.
  3. Janne Laaksonen and Ville Kyrki. Localization in ambiguous environments using multiple weak cues. Intelligent Service Robotics, 1:281-288, 2008.
  4. Olli Alkkiomäki, Ville Kyrki, Heikki Kälviäinen, Yong Liu, and Heikki Handroos. Online trajectory following with position based force/vision control. In International Conference on Advanced Robotics, ICAR 2009, 2009.
  5. Olli Alkkiomäki, Ville Kyrki, Heikki Kälviäinen, Yong Liu, and Heikki Handroos. Multi-modal force/vision sensor fusion in 6-dof pose tracking. In International Conference on Advanced Robotics, ICAR 2009, 2009.
  6. Yong Liu, Heikki Handroos, Olli Alkkiomäki, Ville Kyrki, and Heikki Kälviäinen. Development of a hybrid position/force controlled hydraulic parallel robot for impact treatment. In 7th International Conference on Machine Automation, ICMA2008, pages 41-47, Awaji, Japan, Sep 24-26 2008.
  7. Ville Kyrki. Quaternion representation for similarity transformations in visual slam. In IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2008, pages 2498-2503, Nice, France, Sept 22-26 2008.
  8. Olli Alkkiomäki, Ville Kyrki, Heikki Kälviäinen, Yong Liu, and Heikki Handroos. Challenges of vision for real-time sensor based control. In Canadian Conference on Computer and Robot Vision, CRV 2008, Windsor, Ontario, Canada, May 28-30 2008.
  9. Yong Liu, Heikki Handroos, Olli Alkkiomäki, Ville Kyrki, and Heikki Kälviäinen. Tracking of a moving target by combination of force/velocity control based on vision for a hydraulic manipulator. In IEEE International Conference on Mechatronics and Automation, ICMA 2007, Harbin, China, August 5-8 2007.
  10. Janne Laaksonen and Ville Kyrki. Localization in ambiguous environments using multiple weak cues. In International Conference on Advanced Robotics, ICAR 2007, Jeju, Korea, 2007.
  11. Olli Alkkiomäki, Ville Kyrki, Yong Liu, Heikki Handroos, and Heikki Kälviäinen. Moving camera moving target tracking by integration of vision and encoder data. In International Conference on Advanced Robotics, ICAR 2007, Jeju, Korea, 2007.

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