masterThesis
Desenvolvimento de solução para SLAM utilizando visão de teto
Fecha
2014-01-24Registro en:
SILVA, Luiz Henrique Rodrigues da. Desenvolvimento de solução para SLAM utilizando visão de teto. 2014. 72 f. Dissertação (Mestrado em Automação e Sistemas; Engenharia de Computação; Telecomunicações) - Universidade Federal do Rio Grande do Norte, Natal, 2014.
Autor
Silva, Luiz Henrique Rodrigues da
Resumen
This work intends to show a new and few explored SLAM approach inside the simultaneous
localization and mapping problem (SLAM). The purpose is to put a mobile
robot to work in an indoor environment. The robot should map the environment and localize
itself in the map. The robot used in the tests has an upward camera and encoders
on the wheels. The landmarks in this built map are light splotches on the images of the
camera caused by luminaries on the ceil. This work develops a solution based on Extended
Kalman Filter to the SLAM problem using a developed observation model. Several
developed tests and softwares to accomplish the SLAM experiments are shown in details