Joochim, Chanin: Autonomous navigation and mapping of mobile robots based on 2D/3D cameras combination. 2011
Inhalt
- Kurzfassung
- Abstract
- Acknowledgements
- Table of Contents
- List of Figures
- List of Tables
- 1 Introduction
- 1.1 The mobile robotics candidates
- 1.2 Simultaneous Localization and Mapping, SLAM
- 1.3 Thesis overview
- 2 Literatures Review
- 3 Mobile Robot Hardware
- 3.1 Data communication and interfacing method
- 3.2 Mobile robot candidates
- 3.3 Mobile Experimental Robots for Locomotion andIntelligent Navigation (MERLIN)
- 3.4 Conclusion
- 4 Three Dimensional Images Enhancementand Object Detection
- 4.1 Rotation representation using Euler angles
- 4.2 OpenGL (Open Graphics Library) introduction
- 4.3 The PMD camera principle
- 4.4 Median filtering
- 4.5 Camera calibration
- 4.6 Data fusion
- 4.7 Object detection
- 4.8 Conclusion
- 5 Simultaneous Localization and Mapping,SLAM
- 5.1 The principle of Simultaneous Localization AndMapping, SLAM
- 5.2 Problem definitions
- 5.3 Feature tracking and correspondence finding
- 5.4 Interactive Closest Point (ICP) matching algorithm
- 5.5 Algorithm overview
- 5.6 Simulation results
- 5.7 Conclusion
- 6 Experimental Results
- 6.1 Motion estimation
- 6.2 Objects detection
- 6.3 Off line 3D mapping operation
- 6.4 Real time operation
- 6.5 Conclusion
- 7 Conclusions
- Appendix A Mini Computer MICROSPACE-PC41
- Appendix B 3DM Magnetometer
- Appendix C Microcontroller Infineon C 167
- Appendix D 2D Image Processing Fundamental
- Appendix E OpenGL Based on MFC
- Appendix F MATLAB Interfacing Engine
- Bibliography