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Using a 3-dimensional model for navigation and correction of odometry errors in indoor robotics

Niemantsverdriet, J.P. (2004) Using a 3-dimensional model for navigation and correction of odometry errors in indoor robotics. Master's Thesis / Essay, Artificial Intelligence.

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Abstract

This thesis deals with the development and implementation of a system for mobile robot navigation using a camera and a 3- dimensional map of the environment. In this project, a method to compare camera images to images from the virtual environment was developed. This makes accurate control of the position of a mobile robot possible, without specialized constructions like stereo-vision. To compare the camera images to the images from the virtual environment, a distance transform of the camera image is used. Then, a range of possible virtual images is put over this transformed image, and the minimized values under the lines of the virtual image are looked up. This method seems to perform well, but it still needs some refinement. In experiments with the robot, the performance is not robust enough yet. Some suggestions about how to realise these improvements are given.

Item Type: Thesis (Master's Thesis / Essay)
Degree programme: Artificial Intelligence
Thesis type: Master's Thesis / Essay
Language: English
Date Deposited: 15 Feb 2018 07:30
Last Modified: 15 Feb 2018 07:30
URI: http://fse.studenttheses.ub.rug.nl/id/eprint/8976

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