This paper addresses the problem of mobile robot localization based on current 2D and 3D data and previous records. Focusing on practical loop detection in the trajectory of a robot. The objective of this work was to evaluate current methods of image processing and depth data for issues of localization in environment. This work uses Bag of Words for 2D data and environment of point cloud with Viewpoint Feature Histogram for 3D data. Designed system was implemented and evaluated.
| Identifer | oai:union.ndltd.org:nusl.cz/oai:invenio.nusl.cz:255455 |
| Date | January 2016 |
| Creators | Němec, Lukáš |
| Contributors | Hradiš, Michal, Veľas, Martin |
| Publisher | Vysoké učení technické v Brně. Fakulta informačních technologií |
| Source Sets | Czech ETDs |
| Language | Czech |
| Detected Language | English |
| Type | info:eu-repo/semantics/masterThesis |
| Rights | info:eu-repo/semantics/restrictedAccess |
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