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.
| Identifer | oai:union.ndltd.org:tamu.edu/oai:repository.tamu.edu:1969.1/1217 |
| Date | 15 November 2004 |
| Creators | Ortiz, Steven Rey |
| Contributors | Gutierrez-Osuna, Ricardo |
| Publisher | Texas A&M University |
| Source Sets | Texas A and M University |
| Language | en_US |
| Detected Language | English |
| Type | Book, Thesis, Electronic Thesis, text |
| Format | 4925088 bytes, 82 bytes, electronic, application/pdf, text/plain, born digital |
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