The emergence of affordable 3D cameras in recent years has led to an increased interest in camera-based navigation solutions. Yet, while there have been significant efforts in the field of visual simultaneous localization and mapping (VSLAM), a complete navigation package that could rival popular laser-based solutions is not available. In this paper, we will therefore introduce visual solutions to SLAM, localization, and path planning in a unified graph-based framework with the main target of wheeled robots in industrial applications. Novel solutions will be introduced in the fields of place recognition and loop closing as well as localization. Our algorithms will be built for the Robot Operating System (ROS) and fully replace the popular gmapping and AMCL algorithms.

Understanding the complexities of users' judgements and user experience is a prerequisite for informing HCI design. Current user experience (UX) research emphasises that, beyond usability, non-instrumental aspects of system quality contribute to overall judgement and that the user experience is subjective and variable. Based on judgement and decision-making theory, we have previously demonstrated that judgement of websites can be influenced by contextual factors. This paper explores the strength of such contextual influence by investigating framing effects on user judgement of website quality. Two experimental studies investigate how the presentation of information about a website influences the user experience and the relative importance of individual quality attributes for overall judgement. Theoretical implications for the emerging field of UX research and practical implications for design are discussed.

The article introduces a framework for users' design quality judgments based on Adaptive Decision Making theory. The framework describes judgment on quality attributes (usability, content/functionality, aesthetics, customisation and engagement) with dependencies on decision making arising from the user's background, task and context. The framework is tested and refined by three experimental studies. The first two assessed judgment of quality attributes of websites with similar content but radically different designs for aesthetics and engagement. Halo effects were demonstrated whereby attribution of good quality on one attribute positively influenced judgment on another, even in the face of objective evidence to the contrary (e.g., usability errors). Users' judgment was also shown to be susceptible to framing effects of the task and their background. These appear to change the importance order of the quality attributes; hence, quality assessment of a design appears to be very context dependent. The third study assessed the influence of customisation by experiments on mobile services applications, and demonstrated that evaluation of customisation depends on the users' needs and motivation. The results are discussed in the context of the literature on aesthetic judgment, user experience and trade-offs between usability and hedonic/ludic design qualities.

A theoretical framework for assessing the attractiveness of websites based on Adaptive Decision Making theory is introduced. The framework was developed into a questionnaire and used to evaluate three websites which shared the same brand and topic but differed in aesthetic design. The DSchool site was favoured overall and was best for aesthetics and usability. The subjective ratings of the sites were in conflict with the subject-reported comments on usability problems. Subjects were given two scenarios for their preference. They changed their preference from the DSchool to the HCI Group's site for the more serious (PhD study) scenario; however, design background students remained loyal to the DSchool. The implications of framing and halo effects on users' judgement of aesthetics are discussed.

In this paper we describe an evaluation of two websites with the same content but different interface styles (traditional menu-based and interactive metaphors). A formative usability evaluation was carried out with heuristic assessment of aesthetics, and questionnaire assessment of aesthetics, content, information quality, usability and post-test memory. The study revealed that perception of information quality is affected by the interaction style implemented in the interface, in a manner resembling the halo effect in person perception. Implications for website design and evaluation are discussed.