Chow Ying-ho. / Thesis (M.Phil.)--Chinese University of Hong Kong, 2000. / Includes bibliographical references (leaves 78-83). / Abstracts in English and Chinese. / Chapter Chapter 1 --- Introduction --- p.1 / Chapter 1.1 --- Objectives - Visual Navigation for Legged Robots --- p.1 / Chapter 1.2 --- Summary of Results --- p.3 / Chapter 1.3 --- Hardware Issues --- p.4 / Chapter 1.4 --- Contributions --- p.4 / Chapter 1.5 --- Organization of the Thesis --- p.4 / Chapter Chapter 2 --- Previous Work --- p.6 / Chapter 2.1 --- Vision Based Navigation --- p.6 / Chapter 2.1.1 --- Homography --- p.7 / Chapter 2.1.2 --- Ground Plane Obstacle Detection --- p.9 / Chapter 2.1.3 --- Regression --- p.12 / Chapter 2.2 --- Control Strategy --- p.13 / Chapter Chapter 3 --- System Overview --- p.16 / Chapter Chapter 4 --- Obstacle Detection by Fast Homography Estimation --- p.20 / Chapter 4.1 --- Ground Feature Extraction --- p.21 / Chapter 4.2 --- Ground Feature Correspondence --- p.21 / Chapter 4.3 --- Ground Homography Estimation --- p.24 / Chapter 4.3.1 --- Input point transformation --- p.24 / Chapter 4.3.2 --- Initial estimation --- p.26 / Chapter 4.3.3 --- Robust estimation --- p.27 / Chapter 4.4 --- Obstacle Detection --- p.29 / Chapter 4.5 --- Local Obstacle Map (LOM) on Ground --- p.33 / Chapter 4.5.1 --- Extraction from accumulative evidence --- p.34 / Chapter 4.5.2 --- Time-delay compensation --- p.34 / Chapter Chapter 5 --- Obstacle Avoidance by a Fuzzy Controller --- p.36 / Chapter 5.1 --- Gait Pattern --- p.38 / Chapter 5.2 --- Fuzzy Logic Controller --- p.42 / Chapter 5.2.1 --- Controller Inputs --- p.42 / Chapter 5.2.2 --- Controller Outputs --- p.43 / Chapter 5.2.3 --- Inference mechanism --- p.46 / Chapter Chapter 6 --- Implementation --- p.49 / Chapter 6.1 --- Hardware components --- p.49 / Chapter 6.1.1 --- VisionBug --- p.49 / Chapter 6.1.2 --- RF transmitter / receiver modules: --- p.52 / Chapter 6.2 --- Perception --- p.55 / Chapter 6.3 --- Image Calibration --- p.56 / Chapter 6.4 --- Motion Calibration: --- p.58 / Chapter 6.5 --- Software Programs --- p.66 / Chapter 6.5.1 --- Computational complexity --- p.68 / Chapter Chapter 7 --- Experimental Results --- p.69 / Chapter 7.1 --- Real Navigation Experiments --- p.70 / Chapter 7.2 --- Error Analysis of LOM --- p.73 / Chapter Chapter 8 --- Conclusion and future work --- p.76
| Identifer | oai:union.ndltd.org:cuhk.edu.hk/oai:cuhk-dr:cuhk_323083 |
| Date | January 2000 |
| Contributors | Chow, Ying-ho., Chinese University of Hong Kong Graduate School. Division of Mechanical and Automation Engineering. |
| Source Sets | The Chinese University of Hong Kong |
| Language | English, Chinese |
| Detected Language | English |
| Type | Text, bibliography |
| Format | print, vii, 83 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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