Navigation System for a Mobile Robot Based on Omni-Directional Vision
| Thesis title in Czech: | Navigační systém pro mobilního robota založený na všesměrovém obrazu |
|---|---|
| Thesis title in English: | Navigation System for a Mobile Robot Based on Omni-Directional Vision |
| Academic year of topic announcement: | 2005/2006 |
| Thesis type: | diploma thesis |
| Thesis language: | angličtina |
| Department: | Department of Software and Computer Science Education (32-KSVI) |
| Supervisor: | prof. Ing. Jan Flusser, DrSc. |
| Author: | hidden - assigned and confirmed by the Study Dept. |
| Date of registration: | 25.10.2005 |
| Date of assignment: | 25.10.2005 |
| Date and time of defence: | 06.02.2006 00:00 |
| Date of electronic submission: | 06.02.2006 |
| Date of proceeded defence: | 06.02.2006 |
| Opponents: | Mgr. Hynek Bakstein |
| Guidelines |
| 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. |
| References |
| [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 |
| Preliminary scope of work |
| 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. |