Navigation System for a Mobile Robot Based on Omni-Directional Vision
| Název práce v češtině: | Navigační systém pro mobilního robota založený na všesměrovém obrazu |
|---|---|
| Název v anglickém jazyce: | Navigation System for a Mobile Robot Based on Omni-Directional Vision |
| Akademický rok vypsání: | 2005/2006 |
| Typ práce: | diplomová práce |
| Jazyk práce: | angličtina |
| Ústav: | Katedra softwaru a výuky informatiky (32-KSVI) |
| Vedoucí / školitel: | prof. Ing. Jan Flusser, DrSc. |
| Řešitel: | skrytý - zadáno a potvrzeno stud. odd. |
| Datum přihlášení: | 25.10.2005 |
| Datum zadání: | 25.10.2005 |
| Datum a čas obhajoby: | 06.02.2006 00:00 |
| Datum odevzdání elektronické podoby: | 06.02.2006 |
| Datum proběhlé obhajoby: | 06.02.2006 |
| Oponenti: | Mgr. Hynek Bakstein |
| Zásady pro vypracování |
| Develop a system based on omni-directional vision for navigation of a
mobile robot. The system will perform in an a priori known limited environment of a robotic contest with several kinds of artificial visual landmarks. The task is complicated by the presence of additional objects (such as opposing robots) in the operation field and frequent interactions influencing the desired robot motion. The system must deal both with frequent view occlusions and random displacement. |
| Seznam odborné literatury |
| [1] Gregory Dudek, Michael Jenkin, "Computation Principles of Mobile
Robotics", Cambridge University Press, 2000, ISBN 0-521-56876-5 [2] F. Dellaert, W. Burgard D. Fox, and S. Thrun: "Using the Condensation Algorithm for Robust, Vision-based Mobile Robot Localization", in Proc. of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition (CVPR'99) [3] J. Wolf and A. Pinz: "Particle filter for self localization using panoramic vision", In Proc. of 26th Workshop of the Austrian Association for Pattern Recognition(ÖAGM/AAPR), pages 157-164, Laxenburg, Austria, June 2003 [4] D. Sekimori, T. Usui, Y. Masutani, F. Miyazaki: "High-Speed Obstacle Avoidance and Self-Localization for Mobile Robots Based on Omni-directional Imaging of Floor Region", RoboCup 2001: 204-213 [5] H.-M. Gross, A. Koenig, Ch. Schroeter, H.-J. Boehme: "Omnivision-based Probalistic Self-Localization for a Mobile Shopping Assistant Continued", in Proc. IEEE/RSJ Int. Conference on Intelligent Robots and Systems (IROS 2003), Las Vegas, USA, pp. 1505-1511 |
| Předběžná náplň práce |
| Develop a system based on omni-directional vision for navigation of a
mobile robot. The system will perform in an a priori known limited environment of a robotic contest with several kinds of artificial visual landmarks. |