Lau Ah Wai, Calvin. / Thesis (M.Phil.)--Chinese University of Hong Kong, 2000. / Includes bibliographical references (leaves 108-111). / Abstracts in English and Chinese. / Chapter 1 --- Introduction --- p.1 / Chapter 1.1 --- An Overview --- p.4 / Chapter 1.1.1 --- Robot Self Location --- p.4 / Chapter 1.1.2 --- Robot Navigation --- p.10 / Chapter 1.2 --- Scope of Thesis --- p.12 / Chapter 2 --- Theory --- p.13 / Chapter 2.1 --- Coordinate Systems Transformations --- p.13 / Chapter 2.2 --- Problem Specification --- p.21 / Chapter 2.3 --- The Process of Stereo Vision --- p.22 / Chapter 2.3.1 --- Disparity and Depth --- p.22 / Chapter 2.3.2 --- Vertical Edge Detection and Extraction --- p.25 / Chapter 2.3.3 --- Line Matching Using Dynamic Programming --- p.27 / Chapter 3 --- Mobile Robot Self Location --- p.29 / Chapter 3.1 --- Physical Points by Stereo Reconstruction --- p.29 / Chapter 3.1.1 --- Physical Points Refinement --- p.32 / Chapter 3.2 --- Motion Uncertainties Modeling --- p.33 / Chapter 3.3 --- Improved Physical Point Estimations by EKF --- p.36 / Chapter 3.4 --- Matching Physical Points to Model by Geometric Hashing --- p.40 / Chapter 3.4.1 --- Similarity Invariant --- p.44 / Chapter 3.5 --- Initial Pose Estimation --- p.47 / Chapter 3.5.1 --- Initial Pose Refinement --- p.50 / Chapter 3.6 --- Self Location Using Other Camera Combinations --- p.50 / Chapter 4 --- Improvements to Self Location Using Bayesian Inference --- p.55 / Chapter 4.1 --- Statistical Characteristics of Edges --- p.57 / Chapter 4.2 --- Evidence at One Pixel --- p.60 / Chapter 4.3 --- Evidence Over All Pixels --- p.62 / Chapter 4.4 --- A Simplification Of Geometric Hashing --- p.62 / Chapter 4.4.1 --- Simplification of The Similarity Invariant --- p.63 / Chapter 4.4.2 --- Translation Invariant --- p.63 / Chapter 4.4.3 --- Simplification to The Hashing Table --- p.65 / Chapter 5 --- Robot Navigation --- p.67 / Chapter 5.1 --- Propagation of Motion Uncertainties to Estimated Pose --- p.68 / Chapter 5.2 --- Expectation Map Derived from the CAD Model --- p.70 / Chapter 6 --- Experimental Results --- p.74 / Chapter 6.1 --- Results Using Simulated Environment --- p.74 / Chapter 6.1.1 --- Results and Error Analysis --- p.75 / Chapter 6.2 --- Results Using Real Environment --- p.85 / Chapter 6.2.1 --- Camera Calibration Using Tsai's Algorithm --- p.85 / Chapter 6.2.2 --- Pose Estimation By Geometric Hashing --- p.88 / Chapter 6.2.3 --- Pose Estimation by Bayesian Inference and Geometric Hash- ing --- p.90 / Chapter 6.2.4 --- Comparison of Self Location Approaches --- p.92 / Chapter 6.2.5 --- Motion Tracking --- p.93 / Chapter 7 --- Conclusion and Discussion --- p.95 / Chapter 7.1 --- Conclusion and Discussion --- p.95 / Chapter 7.2 --- Contributions --- p.97 / Chapter 7.3 --- Subjects for Future Research --- p.98 / Chapter A --- Appendix --- p.100 / Chapter A.1 --- Extended Kalman Filter --- p.100 / Chapter A.2 --- Visualizing Uncertainty for 2D Points --- p.105
| Identifer | oai:union.ndltd.org:cuhk.edu.hk/oai:cuhk-dr:cuhk_323197 |
| Date | January 2000 |
| Contributors | Lau, Ah Wai Calvin., Chinese University of Hong Kong Graduate School. Division of Electronic Engineering. |
| Source Sets | The Chinese University of Hong Kong |
| Language | English, Chinese |
| Detected Language | English |
| Type | Text, bibliography |
| Format | print, xi, 111 leaves : ill. ; 30 cm. |
| Rights | Use of this resource is governed by the terms and conditions of the Creative Commons “Attribution-NonCommercial-NoDerivatives 4.0 International” License (http://creativecommons.org/licenses/by-nc-nd/4.0/) |
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