The Experts below are selected from a list of 151746 Experts worldwide ranked by ideXlab platform
Stephane Magnenat - One of the best experts on this subject based on the ideXlab platform.
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comparing icp variants on real world data sets
Autonomous Robots, 2013Co-Authors: Francois Pomerleau, Francis Colas, Roland Siegwart, Stephane MagnenatAbstract:Many modern sensors used for mapping produce 3D point clouds, which are typically registered together using the iterative closest point (ICP) algorithm. Because ICP has many variants whose performances depend on the environment and the sensor, hundreds of variations have been published. However, no comparison frameworks are available, leading to an arduous selection of an appropriate variant for particular experimental conditions. The first contribution of this paper consists of a Protocol that allows for a comparison between ICP variants, taking into account a broad range of inputs. The second contribution is an open-source ICP library, which is fast enough to be usable in multiple real-world applications, while being modular enough to ease comparison of multiple solutions. This paper presents two examples of these field applications. The last contribution is the comparison of two baseline ICP variants using data sets that cover a rich variety of environments. Besides demonstrating the need for improved ICP methods for natural, unstructured and information-deprived environments, these baseline variants also provide a solid basis to which novel solutions could be compared. The combination of our Protocol, Software, and baseline results demonstrate convincingly how open-source Software can push forward the research in mapping and navigation.
Stefan Mangold - One of the best experts on this subject based on the ideXlab platform.
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using consumer led light bulbs for low cost visible light communication systems
ACM IEEE International Conference on Mobile Computing and Networking, 2014Co-Authors: Stefan Schmid, Josef Ziegler, Giorgio Corbellini, Thomas R Gross, Stefan MangoldAbstract:LED-to-LED Visible Light Communication (VLC) based on Light Emitting Diodes (LEDs) and microcontrollers provide a foundation for networking using visible light as communication medium. We describe a low-complexity smart LED light bulb prototype that is based on existing consumer light bulbs and hence can be replicated with minimal effort. The Protocol Software employed for these smart light bulbs is consistent with earlier VLC Protocols originally developed for communication between single LEDs. Using VLC with consumer light bulbs leads to improvements in communication range, field of view, and throughput compared to existing VLC communication systems based on single LEDs. VLC-enabled light bulbs are an important contribution to the vision of all-optical networks, i.e., a multi-hop network of light bulbs in which light bulbs deployed inside buildings and communicate with each other using free space optics only.
Lefteris Mamatas - One of the best experts on this subject based on the ideXlab platform.
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a multi Protocol Software defined networking solution for the internet of things
IEEE Communications Magazine, 2019Co-Authors: Tryfon Theodorou, George E Violettas, Polychronis Valsamas, Sophia G Petridou, Lefteris MamatasAbstract:IoT has evolved from an experimental to a backbone technology able to connect myriads of people, things, and services for a large range of businesses. At the same time, the emergence of SDN can ideally handle IoT challenges for elasticity, heterogeneity, and mobility, offering an architecture that abstracts decision making away from the data plane and providing a programmable network facility. Along these lines, we propose MINOS, a multi-Protocol SDN platform for IoT that implements service awareness utilizing appropriate SDN abstractions and interfaces for logically centralized network control of diverse and resource-constrained IoT environments, two network Protocols that are deployable and configurable on demand, and a GUI that provides a bespoke dashboard and a real-time visualization tool. Due to its components, MINOS enables experimentation with novel network control features and Protocols that realize optimized routing over heterogeneous IoT nodes, application of real-time strategies as a response to dynamic network conditions, support of individual Protocol configurations per node, and flexibility to accommodate new Protocols and control algorithms. Our results demonstrate MINOS as an enabling platform for two Protocols, CORAL-SDN and Adaptable-RPL, which, in comparison with the state-of-the-art IoT routing Protocol RPL, improve the packet delivery ratio with relatively small control overhead.
Francois Pomerleau - One of the best experts on this subject based on the ideXlab platform.
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comparing icp variants on real world data sets
Autonomous Robots, 2013Co-Authors: Francois Pomerleau, Francis Colas, Roland Siegwart, Stephane MagnenatAbstract:Many modern sensors used for mapping produce 3D point clouds, which are typically registered together using the iterative closest point (ICP) algorithm. Because ICP has many variants whose performances depend on the environment and the sensor, hundreds of variations have been published. However, no comparison frameworks are available, leading to an arduous selection of an appropriate variant for particular experimental conditions. The first contribution of this paper consists of a Protocol that allows for a comparison between ICP variants, taking into account a broad range of inputs. The second contribution is an open-source ICP library, which is fast enough to be usable in multiple real-world applications, while being modular enough to ease comparison of multiple solutions. This paper presents two examples of these field applications. The last contribution is the comparison of two baseline ICP variants using data sets that cover a rich variety of environments. Besides demonstrating the need for improved ICP methods for natural, unstructured and information-deprived environments, these baseline variants also provide a solid basis to which novel solutions could be compared. The combination of our Protocol, Software, and baseline results demonstrate convincingly how open-source Software can push forward the research in mapping and navigation.
Stefan Schmid - One of the best experts on this subject based on the ideXlab platform.
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using consumer led light bulbs for low cost visible light communication systems
ACM IEEE International Conference on Mobile Computing and Networking, 2014Co-Authors: Stefan Schmid, Josef Ziegler, Giorgio Corbellini, Thomas R Gross, Stefan MangoldAbstract:LED-to-LED Visible Light Communication (VLC) based on Light Emitting Diodes (LEDs) and microcontrollers provide a foundation for networking using visible light as communication medium. We describe a low-complexity smart LED light bulb prototype that is based on existing consumer light bulbs and hence can be replicated with minimal effort. The Protocol Software employed for these smart light bulbs is consistent with earlier VLC Protocols originally developed for communication between single LEDs. Using VLC with consumer light bulbs leads to improvements in communication range, field of view, and throughput compared to existing VLC communication systems based on single LEDs. VLC-enabled light bulbs are an important contribution to the vision of all-optical networks, i.e., a multi-hop network of light bulbs in which light bulbs deployed inside buildings and communicate with each other using free space optics only.
