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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 Date of Defense 2011-07-28 Date of Submission 2011-08-24