Mobile Robot Localization and Map Building in a Vision-Based Intelligent Space with Infrared and Laser Lighting
| Autor: | Chun-Yi Chuang, 莊竣壹 |
|---|---|
| Rok vydání: | 2010 |
| Druh dokumentu: | 學位論文 ; thesis |
| Popis: | 98 This paper presents an approach for mobile robot localization and map building in a vision-based intelligent spaceusing infrared, laser lighting and vision sensors. The vision-based intelligent space is composed of a network of uncalibrated ceiling-mounted IP cameras with overlapping areas. Two sensing systems are mounted on the mobile robot. One consists of an infrared projector, an infrared filter and a camera. The other utilizes a laser projector and a camera. Map building is performed by capturing the projection of the beam from infrared or laser projector to reconstruct its three-dimensional coordinates. The local map in a camera''s field of view is built by the sensing ystem mounted on the robot and the on-line calibrated IP cameras. Accordingly, the local maps can be integrated into a global map for mobile robot control task in the vision-based intelligent space. The proposed system has been successfully validated by navigating a custom mobile robot equipped with the two sensing systems in an indoor vision-based intelligent environment. |
| Databáze: | Networked Digital Library of Theses & Dissertations |
| Externí odkaz: |
|