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Structure from motion using omni-directional vision and certainty grids

This thesis describes a method to create local maps from an omni-directional vision
system (ODVS) mounted on a mobile robot. Range finding is performed by a
structure-from-motion method, which recovers the three-dimensional position of objects
in the environment from omni-directional images. This leads to map-making,
which is accomplished using certainty grids to fuse information from multiple readings
into a two-dimensional world model. The system is demonstrated both on noise-free
data from a custom-built simulator and on real data from an omni-directional vision
system on-board a mobile robot. Finally, to account for the particular error characteristics
of a real omni-directional vision sensor, a new sensor model for the certainty
grid framework is also created and compared to the traditional sonar sensor model.

Identiferoai:union.ndltd.org:tamu.edu/oai:repository.tamu.edu:1969.1/1217
Date15 November 2004
CreatorsOrtiz, Steven Rey
ContributorsGutierrez-Osuna, Ricardo
PublisherTexas A&M University
Source SetsTexas A and M University
Languageen_US
Detected LanguageEnglish
TypeBook, Thesis, Electronic Thesis, text
Format4925088 bytes, 82 bytes, electronic, application/pdf, text/plain, born digital

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