In this field I studied the following subjects and sensors:

• Localisation algorithms
• Sensor modelling and Data fusion
• Laser Range Scanners
• Global Positioning Systems
• Odometry
• Computer vision

  Beyond localisation I also studied the reconstruction of 3D environments, the design of autonomous navigation software and interfaces for remote operation and new forms of using the Internet in the field of Mobile Robotics.

  The localisation system computes the robot position and orientation on the plane, using a Laser Scanner to perform a horizontal circular sweep.

  Two localisation algorithms were developed:

1. Frame Localisation uses feature extraction and matching, without using an initial posture estimate.
2. Approximate Localisation computes a refined estimate, based on an initial estimate, either supplied by odometry, the first algorithm or any other external source.

  The maximum localisation error is less than 3cm(1.2in) and 0.2º, in regular indoors environments, such as offices or residences. To learn more on the localisation system, read the publications or browse the on-line presentations associated to the papers I presented in conferences.

  I work at the LRM-Laboratório de Robótica Móvel (Mobile Robotics Lab), under the supervision of Prof. Maria Isabel Ribeiro.

  The research work in our lab cover five main areas:

• land mobile robots design
• systems for navigation and control
• statistical analysis and sensor data fusion
• robot cooperation
• 3D reconstruction of indoor environments

  When visiting our Lab's site, you'll find all the elements in the group, our projects and the robotic equipments we use.