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Indoor mobile robot navigation with continuous localization.

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

Identiferoai:union.ndltd.org:cuhk.edu.hk/oai:cuhk-dr:cuhk_322670
Date January 1999
ContributorsLam, Chin Hung., Chinese University of Hong Kong Graduate School. Division of Mechanical and Automation Engineering.
Source SetsThe Chinese University of Hong Kong
LanguageEnglish, Chinese
Detected LanguageEnglish
TypeText, bibliography
Formatprint, x, 64 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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