Logo U. Osnabrueck Institute of Computer ScienceKnowledge-Based Systems Research GroupProject LiSA

Project LiSA Downloads

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LiSA Project Navigation Localization Publications Downloads


The LiSA navigation software is implemented as player plugin drivers. You can download them via anonymous svn access. You need to have the player svn trunk version installed on your system. Look here for instructions
The latest tested revision is 7939
The following list describes some of our player drivers.
Use anonymous as user name and password for svn access

motion detection and tracking

This driver detects and tracks motion in laser scanner data. It is originally from the cure library and we wrote a player wrapper around it.

svn co http://kos.informatik.uni-osnabrueck.de/player-plugins/trunk/plugins/motion/


Virtual Range Scan

This driver combines player devices, that provide a laser, ranger or pointcloud interface, into a virtual 2D data set. It has an optional obstacle memory and can take dynamics in the robots environment into account.

svn co http://kos.informatik.uni-osnabrueck.de/player-plugins/trunk/plugins/vrs/


USARSim Player Interface

This driver provides the connection between the simulation environment USARSim and player.

svn co http://kos.informatik.uni-osnabrueck.de/player-plugins/trunk/plugins/usarsim/


Hardware driver pmd camera

This driver provides data from a o3d100 pmd camera as pointcloud interface

svn co http://kos.informatik.uni-osnabrueck.de/player-plugins/trunk/plugins/pmdCamera/


Hardware driver SICK S300 and LMS100

This file contains twoe drivers. The first one provides data from a SICK S300 laserscanner in a ranger interface. The second one connects to a SICK LMS100 laser scanner.

svn co http://kos.informatik.uni-osnabrueck.de/player-plugins/trunk/plugins/laser/



3D obstacle avoidance in the simulated working environment

Demonstration of 3d obstacle avoidance in a static, simulated environment (Mai 2007)


obstacle avoidance with 2d environment information

Demonstration of 3d obstacle avoidance (July 2008)


obstacle avoidance with 3d environment information

Demonstration of 3d obstacle avoidance (July 2008)


3D obstacle avoidance in the real working environment

Demonstration of 3d obstacle avoidance in a dynamic, environment (June 2008)


LiSA Project Navigation Localization Publications Downloads


Stefan Stiene
University of Osnabrück
Institute of Computer Science
Knowledge Bases Systems Research Group
Albrechtstraße 28 D-49069 Osnabrück, Germany

If you have any questions about the current state of the LiSA project, please contact:

Logo BMBF Financial support for this research and development project LiSA is provided by the German Federal Ministry for Education and Research (BMBF) as part of the framework program "Forschung für die Produktion von Morgen" (Research for tomorrow's production; grants no. 02PB2170- 02PB2177). Its administration is handled by the Project Management Agency Forschungszentrum Karlsruhe (PTKAPFT). Logo PTKA Last changed: Jul 2, 2009