by Lam Chin Hung. / Thesis (M.Phil.)--Chinese University of Hong Kong, 1999. / Includes bibliographical references (leaves 60-64). / Abstracts in English and Chinese. / Acknowledgments --- p.ii / List of Figures --- p.v / List of Tables --- p.vii / Abstract --- p.viii / Chapter 1 --- Introduction --- p.1 / Chapter 2 --- Algorithm Outline --- p.7 / Chapter 2.1 --- Assumptions --- p.7 / Chapter 2.2 --- Robot Localization --- p.8 / Chapter 2.3 --- Algorithm Outline --- p.11 / Chapter 3 --- Global and Local Maps --- p.15 / Chapter 3.1 --- Feature Selection --- p.17 / Chapter 3.2 --- Line Correspondence --- p.18 / Chapter 3.3 --- Map Representation --- p.20 / Chapter 3.3.1 --- Global Map --- p.21 / Chapter 3.3.2 --- Local Map --- p.22 / Chapter 3.4 --- Integration of Multiple Local 2D Maps --- p.24 / Chapter 4 --- Localization Algorithm --- p.27 / Chapter 4.1 --- Robot Orientation --- p.28 / Chapter 4.2 --- Robot Position --- p.29 / Chapter 4.2.1 --- Match Function --- p.30 / Chapter 4.2.2 --- Search Algorithm --- p.31 / Chapter 4.3 --- Continuous Localization with Retroactive Pose Update --- p.32 / Chapter 5. --- Implementation and Experiments --- p.35 / Chapter 5.1 --- Computing Robot Orientation --- p.36 / Chapter 5.2 --- Robot Position by Map Registration --- p.42 / Chapter 5.2.1 --- Error Analysis --- p.47 / Chapter 5.3 --- Discussions --- p.49 / Chapter 6. --- Conclusion --- p.52 / Appendix --- p.54 / Chapter A.l --- Intrinsic and Extrinsic Parameters --- p.54 / Chapter A.2 --- Relation Between Cameras (Stereo Camera Calibration) --- p.55 / Chapter A.3 --- Wheel-Eyes Calibration --- p.56 / Chapter A.4 --- Epipolar Geometry --- p.58 / Chapter A.5 --- The Tele-operate Interface --- p.59 / References --- p.60
| Identifer | oai:union.ndltd.org:cuhk.edu.hk/oai:cuhk-dr:cuhk_322670 |
| Date | January 1999 |
| Contributors | Lam, Chin Hung., 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, x, 64 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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