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Title page for etd-0823111-164112


URN etd-0823111-164112 Statistics This thesis had been viewed 2095 times. Download 459 times.
Author Yu-Shian Pan
Author's Email Address No Public.
Department Mechanical Engineering
Year 2010 Semester 2
Degree Master Type of Document Master's Thesis
Language zh-TW.Big5 Chinese Page Count 54
Title Simultaneous Localization and Mapping Using Panoramic Camera
Keyword
  • EKF
  • SLAM
  • Panoramic Camera
  • Panoramic Camera
  • SLAM
  • EKF
  • Abstract When a mobile robot in an unknown environment, how to be located ,and knowing the position as soon as possible had becoming a hot issue. In this thesis achieves using Panoramic Camera combining Extend Kalman Filter to complete Simultaneous Localization and Mapping, SLAM. It can be used when a robot exploring an environment, building a feature, and mapping finding the location at same time. Panoramic Camera has a 360 degrees of view, not only can capture more environment information but also can have a longer time in tracing the features. This also makes the SLAM system more steadily. In here the feature matching basis is Harris corner detection with scale-invariant feature transform (SIFT) description. By comparing established reference points with reference images information the robot can be located in the environment. The experimental results show that the localization algorithm can help robot to walk in the environment and build the feature map.
    Advisor Committee
  • Guan-Chun Luh - advisor
  • Chung-Chun Kung - co-chair
  • Yin-Tien Wang - co-chair
  • Files indicate in-campus access at 4 years and off-campus access at 4 years
    Date of Defense 2011-07-28 Date of Submission 2011-08-24


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