Change search
ReferencesLink to record
Permanent link

Direct link
Visual Navigation System for Mobile robots
Halmstad University. Halmstad University, School of Information Science, Computer and Electrical Engineering (IDE), Halmstad Embedded and Intelligent Systems Research (EIS).
university of "Stefan cel Mare" Suceava.
2011 (English)Independent thesis Advanced level (degree of Master (Two Years)), 30 credits / 45 HE creditsStudent thesis
Abstract [en]

We present two different methods based on visual odometry for pose estimation (x, y, Ө) of a robot. The methods proposed are: one appearance based method that computes similarity measures between consecutive images, and one method that computes visual flow of particular features, i.e. spotlights on ceiling.

Both techniques are used to correct the pose (x, y, Ө) of the robot, measuring heading change between consecutive images. A simple Kalman filter, extended Kalman filter and simple averaging filter are used to fuse the estimated heading from visual odometry methods with odometry data from wheel encoders.

Both techniques are evaluated on three different datasets of images obtained from a warehouse and the results showed that both methods are able to minimize the drift in heading compare to using wheel odometry only.

Place, publisher, year, edition, pages
2011. , 54 p.
Keyword [en]
URN: urn:nbn:se:hh:diva-15595Local ID: IDE1130OAI: diva2:426235
Available from: 2011-06-29 Created: 2011-06-22 Last updated: 2011-06-29Bibliographically approved

Open Access in DiVA

Visual Navigation System for Mobile Robots(1866 kB)469 downloads
File information
File name FULLTEXT01.pdfFile size 1866 kBChecksum SHA-512
Type fulltextMimetype application/pdf

Search in DiVA

By author/editor
Safdar, Wasim
By organisation
Halmstad UniversityHalmstad Embedded and Intelligent Systems Research (EIS)

Search outside of DiVA

GoogleGoogle Scholar
Total: 469 downloads
The number of downloads is the sum of all downloads of full texts. It may include eg previous versions that are now no longer available

Total: 370 hits
ReferencesLink to record
Permanent link

Direct link