Abstract-Several works deal with 3D data in SLAM problem but many of them are focused on short scale maps. In this paper, we propose a method that can be used for computing the 6DoF trajectory performed by a robot from the stereo images captured during a large scale trajectory. The method transforms robust 2D features extracted from the reference stereo images to the 3D space. These 3D features are then used for obtaining the correct robot movement. Both Sift and Surf methods for feature extraction have been used. Also, a comparison between our method and the results of the ICP algorithm have been performed. We have also made a study about errors in stereo cameras.

Abstract-This paper presents a probabilistic framework for unmarked roads estimation using radar sensors. The algorithm models the sensor likelihood function as a Gaussian mixture model. This sensor likelihood is used in a Bayesian approach to estimate the road edges probability distribution. A particle filter is used as the fusion mechanism to obtain posterior estimates of the road's parameters. The main applications of the approach presented are autonomous navigation and driver assistance. The use of radar permits the system to work even under difficult environmental conditions. Experimental results with data acquired in a mine environment are presented. By using a GPS mounted on the test vehicle, the algorithm outcome is registered with a satellite image of the experimental place. The registration allows to perform a qualitative analysis of the algorithm results. The results show the effectiveness of the algorithm presented.