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Title of Thesis

Vision Based Localization Mapping and Navigation Algorithm for Mobile Robot

Author(s)

Taj Mohammad Khan

Institute/University/Department Details
Department Of Electrical Engineering, Faculty Of Electrical & Electronics Engineering / University Of Engineering And Technology, Taxila
Session
2010
Subject
Electrical Engineering
Number of Pages
180
Keywords (Extracted from title, table of contents and abstract of thesis)
Based, Robot, Mapping, Vision, Algorithm, Navigation, Localization, Mobile

Abstract
Not Available

Download Full Thesis
4,213 KB
S. No. Chapter Title of the Chapters Page Size (KB)
1 0 CONTENTS

 

 
43 KB
2

1

INTRODUCTION

1.1 Contributions
1.2 Thesis Organization

1
49 KB
3 2 THE VISION SYSTEMS

2.1 Introduction
2.2 Ranging Sensors
2.3 The Camera System
2.4 Vision System Architectures
2.5 Multiple View Camera System
2.6 Summary

6
118 KB
4 3 MOBILE ROBOT: LOCALIZATION, MAPPING AND NAVIGATION

3.1 Introduction
3.2 Localization
3.3 Mapping
3.4 Simultaneous Localization and Mapping
3.5 Navigation
3.6 Summary

24
 487 KB
5 4 IMAGE FUSION TECHNIQUE FOR SIMULTANEOUS LOCALIZATION AND MAPPING

4.1 Introduction
4.2 Occlusion
4.3 Vision System
4.5 Dynamic Motion Segmentation
4.6 Image Transformation and Registration
4.7 Simultaneous Solution of Occlusion and FO using Image Fusion.
4.8 Camera Configuration and Projection Geometry
4.9 Top-View Generation by Fusing Multiple Views
4.10 Objects/Robots Detection and Identification
4.11 Occupancy Grid
4.12 Navigational Reinforcements
4.13 Camera Field of View (FOV) and Geometry Relationship
4.14 Summary

54
481 KB
6 5 EXPERIMENTS AND RESULTS

5.1 Introduction
5.2 Two Camera Setup
5.3 Three Camera Setup
5.4 Results

103
3,084 KB
7 6 CONCLUSIONS AND FUTURE WORK

6.1 Conclusions
6.2 Future Recommendations

134
38 KB
8 7 REFERENCES

137
120 KB