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Self location of vision guided autonomous mobile robots.

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

Identiferoai:union.ndltd.org:cuhk.edu.hk/oai:cuhk-dr:cuhk_323197
Date January 2000
ContributorsLau, Ah Wai Calvin., Chinese University of Hong Kong Graduate School. Division of Electronic Engineering.
Source SetsThe Chinese University of Hong Kong
LanguageEnglish, Chinese
Detected LanguageEnglish
TypeText, bibliography
Formatprint, xi, 111 leaves : ill. ; 30 cm.
RightsUse 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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