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Planning, localization, and mapping ...

Meger, David Paul.

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Planning, localization, and mapping for a mobile robot in a camera network.

Record Type:	Language materials, printed : Monograph/item
Title/Author:	Planning, localization, and mapping for a mobile robot in a camera network./
Author:	Meger, David Paul.
Description:	93 p.
Notes:	Source: Masters Abstracts International, Volume: 46-03, page: 1580.
Contained By:	Masters Abstracts International46-03.
Subject:	Computer Science. -
Online resource:	http://pqdd.sinica.edu.tw/twdaoapp/servlet/advanced?query=MR32751
ISBN:	9780494327517

Planning, localization, and mapping for a mobile robot in a camera network.
Meger, David Paul.

Planning, localization, and mapping for a mobile robot in a camera network. - 93 p.

Source: Masters Abstracts International, Volume: 46-03, page: 1580.

Thesis (M.Sc.)--McGill University (Canada), 2007.

Networks of cameras such as building security systems can be a source of localization information for a mobile robot assuming a map of camera locations as well as calibration information for each camera is available. This thesis describes an automated system to acquire such information. A fully automated camera calibration system uses fiducial markers and a mobile robot in order to drastically improve ease-of-use compared to standard techniques. A 6DOF EKF is used for mapping and is validated experimentally over a 50 m hallway environment. Motion planning strategies are considered both in front of a single camera to maximize calibration accuracy and globally between cameras in order to facilitate accurate measurements. For global motion planning, an adaptive exploration strategy based on heuristic search allows compromise between distance traveled and final map uncertainty which provides the system a level of autonomy which could not be obtained with previous techniques.

ISBN: 9780494327517Subjects--Topical Terms:

626642
Computer Science.

Planning, localization, and mapping for a mobile robot in a camera network.
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020 $a 9780494327517
035 $a (UMI)AAIMR32751
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100 1 $a Meger, David Paul. $3 1264895
245 1 0 $a Planning, localization, and mapping for a mobile robot in a camera network.
300 $a 93 p.
500 $a Source: Masters Abstracts International, Volume: 46-03, page: 1580.
502 $a Thesis (M.Sc.)--McGill University (Canada), 2007.
520 $a Networks of cameras such as building security systems can be a source of localization information for a mobile robot assuming a map of camera locations as well as calibration information for each camera is available. This thesis describes an automated system to acquire such information. A fully automated camera calibration system uses fiducial markers and a mobile robot in order to drastically improve ease-of-use compared to standard techniques. A 6DOF EKF is used for mapping and is validated experimentally over a 50 m hallway environment. Motion planning strategies are considered both in front of a single camera to maximize calibration accuracy and globally between cameras in order to facilitate accurate measurements. For global motion planning, an adaptive exploration strategy based on heuristic search allows compromise between distance traveled and final map uncertainty which provides the system a level of autonomy which could not be obtained with previous techniques.
590 $a School code: 0781.
650 4 $a Computer Science. $3 626642
650 4 $a Engineering, Robotics. $3 1018454
690 $a 0771
690 $a 0984
710 2 $a McGill University (Canada). $3 1018122
773 0 $t Masters Abstracts International $g 46-03.
790 $a 0781
791 $a M.Sc.
792 $a 2007
856 4 0 $u http://pqdd.sinica.edu.tw/twdaoapp/servlet/advanced?query=MR32751