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Obstacle Detection for Indoor Navigation of Mobile Robots

Obstacle detection is one of the major focus area on image processing. For mobile robots, obstacle detection and collision avoidance is a notorious problem and is still a part of the modern research.
There are already a lot of research have been done so far for obstacle detection and collision avoidance. This thesis evaluates the existing various well-known methods and sensors for collision free navigation of the mobile robot. For moving obstacle detection purpose the frame difference approach is adopted. Robotino® is used as the mobile robot platform and additionally Microsoft Kinect is used as 3D sensor. For getting information from the environment about obstacle, the 9-built-in distance sensor of Robotino® and 3D depth image data from the Kinect is used. The combination is done to get the maximum advantages for obstacles information. The detection of moving object in front of the sensor is a major interest of this work.

Identiferoai:union.ndltd.org:DRESDEN/oai:qucosa.de:bsz:ch1-qucosa-225279
Date14 August 2017
CreatorsIslam Rasel, Rashedul
ContributorsTU Chemnitz, Fakultät für Informatik, Dipl.-Inf. René Schmidt, Prof. Dr. Wolfram Hardt, Dipl.-Inf. René Schmidt, Prof. Dr. Wolfram Hardt
PublisherUniversitätsbibliothek Chemnitz
Source SetsHochschulschriftenserver (HSSS) der SLUB Dresden
LanguageEnglish
Detected LanguageEnglish
Typedoc-type:masterThesis
Formatapplication/pdf, text/plain, application/zip

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