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A Performance Evaluation of a 3D MLI Time-of-Flight-sensor for applications in a domestic niche

Henken, R (2010) A Performance Evaluation of a 3D MLI Time-of-Flight-sensor for applications in a domestic niche. Bachelor's Thesis, Artificial Intelligence.

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Abstract

When an autonomous robot is placed in an unknown environment, it does not yet have a map. To be able to build a map it is important that landmarks can be extracted from the environment. In this bachelor project we have attempted to extract landmarks from a domestic environment using a 3D MLI Time-of-Flight (ToF) sensor. The sensor uses the phase change of the reflection of actively emitted infrared light to determine the distance to objects. The sensor has a range from approximately 200 mm to 7000 mm and a resolution of 56 by 61 pixels. We used the sensor to build a dataset of gray-scale intensity images. We applied the SIFT feature detection method to detect and describe features in the gray-scale images and used SIFT matching to match the features. The experiment shows that by using this method it is quite difficult to extract reliable landmarks from the environment.

Item Type: Thesis (Bachelor's Thesis)
Supervisor:
Supervisor nameSupervisor E mail
Jong, S. deUNSPECIFIED
Kloosterman, HUNSPECIFIED
Degree programme: Artificial Intelligence
Thesis type: Bachelor's Thesis
Language: English
Date Deposited: 15 Feb 2018 07:44
Last Modified: 02 May 2019 11:37
URI: http://fse.studenttheses.ub.rug.nl/id/eprint/9343

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