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Navigation and Automatic Ground Mapping by Rover Robot
Halmstad University, School of Information Science, Computer and Electrical Engineering (IDE), Halmstad Embedded and Intelligent Systems Research (EIS).
Halmstad University, School of Information Science, Computer and Electrical Engineering (IDE), Halmstad Embedded and Intelligent Systems Research (EIS).
2010 (English)Independent thesis Advanced level (degree of Master (Two Years)), 30 credits / 45 HE creditsStudent thesis
Abstract [en]

This project is mainly based on mosaicing of images and similarity measurements with different methods. The map of a floor is created from a database of small-images that have been captured by a camera-mounted robot scanning the wooden floor of a living room. We call this ground mapping. After the ground mapping, the robot can achieve self-positioning on the map by using novel small images it captures as it displaces on the ground. Similarity measurements based on the Schwartz inequality have been used to achieve the ground mapping, as well as to position the robot once the ground map is available. Because the natural light affects the gray value of images, this effect must be accounted for in the envisaged similarity measurements. A new approach to mosaicing is suggested. It uses the local texture orientation, instead of the original gray values, in ground mapping as well as in positioning. Additionally, we report on ground mapping results using other features, gray-values as features. The robot can find its position with few pixel errors by using the novel approach and similarity measurements based on the Schwartz inequality.

Place, publisher, year, edition, pages
2010. , 80 p.
Keyword [en]
Image mosaicing, Ground mapping, Robot positioning, Schwartz inequality, Texture orientation, Structure tensor, Linear symmetry
National Category
Computer Vision and Robotics (Autonomous Systems)
Identifiers
URN: urn:nbn:se:hh:diva-6185OAI: oai:DiVA.org:hh-6185DiVA: diva2:358657
Uppsok
Technology
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Available from: 2010-11-17 Created: 2010-10-23 Last updated: 2010-11-17Bibliographically approved

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Computer Vision and Robotics (Autonomous Systems)

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CiteExportLink to record
Permanent link

Direct link
Cite
Citation style
  • apa
  • harvard1
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf