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| Arnoud's | Research |
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Planetary Robotics
Description
In 2021 I am a visiting researcher at the Planetary Robotics lab of ESTEC. I will cooperate with Martin Azkarate and Levin Gerdes on Simultaneous Localisation and Mapping (SLAM). The idea is to sample particles in a 2D grid that has the same resolution as the local map (my suggestion would be to use quadtrees) and to fuse nearby cells for each cell of the map according to the variance of the robot's translation. There are several datasets available:- the dataset recorded at Tenerife.
- the Erfoud dataset, recorded in Marocco.
- Katwijk Beach Planetary Rover Dataset
the Heavy Duty Planetary Rover at Katwijk beach
The current SLAM algorithm is based on the ROS package grid_map_core, which is extended with ga-slam.
Publications
- Marlon de Jong and Arnoud Visser, Combining Structure from Motion with visual SLAM for the Katwijk Beach dataset, 32th Benelux Conference on Artificial Intelligence (BNAIC 2020), Leiden, November 19-20, 2020, page 420-423 (official proceedings)
- Marlon de Jong, SLAM at the Katwijk beach, Bachelor thesis, Universiteit van Amsterdam, July 2020.
- Midas Amersfoort, Improving CNN classification performance for small datasets - Post-natural disaster building damage assessment from high-resolution satellite imagery, Bachelor thesis, Universiteit van Amsterdam, June 2020.
- Fabrizio Ambrogi, Evolving a Spiking Neural Network controller for low gravity environments, Master thesis, Universiteit van Amsterdam, October 2018.
- Georgios Methenitis, Daniel Hennes, Dario Izzo and Arnoud Visser, Novelty Search for Soft Robotic Space Exploration, in Genetic and Evolutionary Computation Conference (GECCO '15), ACM, 2015.
- Giorgos Methenitis, Evolution of soft robots by novelty search, Master thesis, Universiteit van Amsterdam, December 2014.
- A. Visser, "Revision of concept, an adaptation of the IRAS architecture to multiple users and devices", technical report for ESA contract 10016/92/NL/JG, (ESTEC, Robotics Department, Noordwijk), Sept. 1993.
- W.-P. Foth, Y. Cuvellier, F. Tuijnman, A. Visser, J. Froehlich and H. Schaude, "Interactive remote automation & robotics servicing - Final Report", Public deliverable for ESA contract 9459/91/NL/JG, (ESTEC, Robotics Department, Noordwijk), March 1993.