ELEC 7970 Advanced Mobile Robotics

~ Spring 2016  Dr. Roppel ~

Welcome to Advanced Mobile Robots.  Please feel free to offer suggestions for improving the course and this course web site. If you find a link that might be of interest to the class, email the URL to me and I might include it on this page.


TEXTBOOK SUPPORT (Autonomous Mobile Robots – 2nd Ed.)
Authors' textbook website (includes links to slides) - http://www.mobilerobots.ethz.ch/

Papers we are studying

Paper Code





(A) Chilian 2009

Stereo Camera Based Navigation of Mobile Robots on Rough Terrain

Annett Chilian and Heiko Hirschm¨uller

The 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems October 11-15, 2009 St. Louis, USA



(B) Hirsch 2002a

Real-Time Correlation-Based Stereo Vision with Reduced Border Errors


International Journal of Computer Vision 47(1/2/3), 229–246, 2002


Ref. 5 from paper (A)

(C) Hirsch 2002b

Fast, Unconstrained Camera Motion Estimation from Stereo without Tracking and Robust Statistics

Heiko Hirschm¨uller, Peter R. Innocent and Jon M. Garibaldi

7th International Conference on Control, Automation, Robotics and Vision, 2002. ICARCV 2002. Issue Date: 2-5 Dec. 2002. On page(s): 1099 - 1104 vol.2


Ref. 6 from paper (A)


Optical Flow Estimation

David J. Fleet and Yair Weiss (2006). "Optical Flow Estimation". In Paragios et al.. Handbook of Mathematical Models in Computer Vision. Springer. ISBN 0387263713.


Ref. 7 from Wikipedia article on Optical Flow:




Evolution of Neural Controllers for Robot Navigation in Human Environments

Journal of Computer Science 6 (8): 837-843, 2010, ISSN 1549-3636 © 2010 Science Publications




Navigation of a Mobile Robot on the Temporal Development of the Optic Flow

Anuj Dev, Ben KrÖse, Frans Groen, IROS 97, pp. 558-563




Passive navigation

Anna R. Bruss and Berthold K. P. Horn, Computer Vision, Graphics, and Image Processing 21, 3-20 (1983)


Ref. 1 in paper (F)


The interpretation of a moving retinal image

H.C. Longuet-Higgins and K. Prazdny, Proc. Roy. Soc. London Ser. B 208, 1980, 358-397


Ref. 9 in paper (G)


A Biological Inspired Visual Landmark Recognition Architecture

Quoc Do; Jain, L, Digital Image Computing: Techniques and Applications, 2009. DICTA '09


Selective attention ART neural net used for navigation using visual landmarks.


Outdoor Visual Path Following Experiments

Albert Diosi, Anthony Remazeilles, Siniˇsa ˇSegvi´c and Francois Chaumette, Proceedings of the 2007 IEEE/RSJ InternationalConference on Intelligent Robots and Systems, San Diego, CA, USA, Oct 29 - Nov 2, 2007


Video 1 (5 MB)

Video 2 (50 MB)

Related to HW 4 and HW 5

Diosi’s web page

Follow-on paper in IEEE Transactions on Intelligent Transportation Systems, Vol. 12, No. 3, September 2011


A Combined Corner and Edge Detector

Chris Harris & Mike Stephens, In Proceedings of the Alvey Vision Conference, pages 147–152, 1988


Ref. 5 in paper (J)


Good features to Track

Jianbo Shi and Carlo Tomasi.. In CVPR’94, pp. 593–600, 1994


MATLAB code for Eq. 1

Ref. 16 in paper (J)


Real-time feature tracking and outlier rejection with changes in illumination

H. Jin, P. Favaro, and S. Soatto. Real-time feature tracking and outlier rejection with changes in illumination. In ICCV, volume 1, pp 684–689, 2001.


Ref. 6 in paper (J)


Local Invariant Feature Detectors: A Survey

T. Tuytelaars and K. Mikolajczyk, Foundations and Trends in Computer Graphics and Vision Vol. 3, No. 3 (2007) 177–280 DOI: 10.1561/0600000017

PDF  (104 pages)



A Model of Saliency-Based Visual Attention for Rapid Scene Analysis

Laurent Itti, Christof Koch, and Ernst Niebur, IEEE Transactions on Pattern Analysis and Machine Intelligence, Vol. 20, No. 11, November 1998


Ref. 94 in paper (N)


The Quest for Artificial Intelligence - A History of Ideas and Achievements

Nils J. Nilsson, Stanford University, Web Version. 







Real-time hierarchical POMDPs for autonomous robot navigation

Amalia Foka

, Panos Trahanias

Robotics and Autonomous Systems 55 (2007) 561–571




Unfreezing the Robot: Navigation in Dense, Interacting Crowds

Peter Trautman and Andreas Krause

The 2010 IEEE/RSJ International Conference on

Intelligent Robots and Systems

October 18-22, 2010, Taipei, Taiwan




Markov Vision

Andrew Blake




Fast, Cheap And Out Of Control: A Robot Invasion Of The Solar System

Rodney A. Brooks And Anita M. Flynn, Journal of The British Interplanetary Society, Vol. 42, pp 478-485, 1989


Basis for the documentary Fast, Cheap And Out Of Control


Motion Capture Using Joint Skeleton Tracking and Surface Estimation

Gall J., Stoll C., de Aguiar E., Theobalt C., Rosenhahn B., and Seidel H.-P., IEEE Conference on Computer Vision and Pattern Recognition (CVPR'09), 2009.

web page with video and code links

Corresponding paper



Visual Odometery Tutorial

Part I: The First 30 Years and Fundamentals, by Davide Scaramuzza and Friedrich Fraundorfer  - IEEE Robotics & Automation Magazine • December 2011, pp. 80-92.


Part II: Matching, Robustness, Optimization, and Applications, by Friedrich Fraundorfer and Davide Scaramuzza - IEEE Robotics & Automation Magazine • June 2012, pp 78 – 90.

Part 1

Part 2



A real-time algorithm for mobile robot mapping with applications to multi-robot and 3D mapping

Thrun, S.; Burgard, W.; Fox, D.

IEEE International Conference on Robotics and Automation (ICRA) 2000, v. 1, pp. 321-328


W.1 EM algorithm lecture notes 2004

W.2 Original paper on EM Ref. 9 in W.1, 1977.


RANGE - Robust Autonomous Navigation in GPS-denied Environments

Bachrach, et al., Journal of Field Robotics  2011




A Frontier-Based Approach for Autonomous Exploration

Brian Yamauchi, Proc. of the IEEE Int. Symposium on Computational Intelligence, Robotics and Automation, CIRA, 1997, pages 146–151


Ref. in Paper (X)

Related pubs:

·         Adam Ray, M.S. Thesis, Auburn University, 2005

·         Y.1 Burgard ICRA 2000 (Ref. 49 in Adam Ray’s MS Thesis)


Issues and approaches in the design of collective autonomous agents


Maja J. Mataric, Robotics and Autonomous Systems 16 (1995) 321-331.

PDF – as published by Elsevier (slightly easier to read, but poor figure quality)

PDF – from author’s website – original figure quality

Ref. 31 in Adam Ray’s MS thesis


Daimler 6d vision

Path photos 1 – 9 zipped and

.robo  file used to extract path (optimized for p1)

Spring 12 HW assignment, photos, results – Navigation of path in Town Creek park – zip file

RANSAC toolbox for MATLAB on Github (Marco Zuliani)

Motion capture suit

Google Car (IEEE Spectrum)

How Kinect Works

Popular Mechanics $100 robot project from Feb. 12 issue

Depth from Stereo – PPT slides 

Camera Calibration Toolkit for MATLAB  link

Quadrotor swarm – GRASP lab  video

From 60 Minutes Sunday Jan. 13, 2013 – Rodney Brooks and Robot Waltzes

About the movie Fast, Cheap, and Out of Control

Broun Hall Sumo Robot Competition Jan 12, 2013