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Environmental feature extraction and comparison using a rotating Infra Red sensor

Volger, M. (2010) Environmental feature extraction and comparison using a rotating Infra Red sensor. Bachelor's Thesis, Artificial Intelligence.

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Abstract

For an autonomous robot it can be quite useful to locate its own position within its environment, which in the case of a vacuum cleaning robot is often a living room. Certain features from this environment can help with the self localization, like for example corners. In this bachelor project we have tried to extract such features from the data of a rotating infra-red sensor, when positioned in different places relative to the features. The recording of the data is done in a laboratory at Philips Drachten resembling a common living room. After the features have been extracted, they are described by descriptors. This way each recording of the environment gets its own descriptor. The descriptors are matched with each other by means of the Levenshtein distance. The wellness of the matches between the descriptors, combined with an internal map of the environment, can help us say something useful about the probable location of the robot within that environment.

Item Type: Thesis (Bachelor's Thesis)
Degree programme: Artificial Intelligence
Thesis type: Bachelor's Thesis
Language: English
Date Deposited: 15 Feb 2018 07:51
Last Modified: 15 Feb 2018 07:51
URI: http://fse.studenttheses.ub.rug.nl/id/eprint/10604

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