Self-localization, mapping and coverage with resource-limited mobile robots:
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| Main Author: | |
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| Format: | Thesis Book |
| Language: | English |
| Published: |
Berlin
Logos
2011
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| Subjects: | |
| Online Access: | Inhaltstext Inhaltsverzeichnis |
| Item Description: | Zsfassung in dt. Sprache |
| Physical Description: | XIII, 148 S. Ill., graph. Darst. 21 cm |
| ISBN: | 9783832528874 3832528873 |
Staff View
MARC
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Record in the Search Index
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IMAGE 1
CONTENTS
1 INTRODUCTION 1
1.1 MOTIVATION 1
1.2 OUTLINE 4
2 SYSTEM ARCHITECTURES 5
2.1 MULTI-ROBOT SYSTEMS * 5
2.1.1 CENTRALIZATION VS. DECENTRALIZATION 6
2.1.2 HOMOGENEITY VS. HETEROGENEITY 6
2.1.3 COMMUNICATION STRUCTURES 7
2.2 ROBOT PLATFORMS 7
2.2.1 C'T-BOT AND POB-EYE CAMERA MODULE 8
2.2.2 HUMMINGBIRD QUADROCOPTER AND NOKIA N95 MOBILE PHONE . 10 2.2.3
CUSTOM-BUILT SERVICE ROBOT 11
2.2.4 HETEROGENEOUS TEAM OF MOBILE ROBOTS 14
2.3 DETECTION AND TRACKING OF THE ROBOTS IN THE TEAM 16
2.3.1 RELATED WORK 16
2.3.2 IMAGE PROCESSING ALGORITHMS 19
2.3.3 SYSTEM EVALUATION 24
2.4 SUMMARY 20
3 OVERVIEW OF VISUAL SELF-LOCALIZATION 27
3.1 INTRODUCTION 27
3.2 SELF-LOCALIZATION AS AN IMAGE RETRIEVAL TASK 30
3.2.1 VISUAL SELF-LOCALIZATION USING LOCAL IMAGE FEATURES 30 3.2.2
VISUAL SELF-LOCALIZATION USING GLOBAL IMAGE FEATURES . . . 32 3.3
SELF-LOCALIZATION USING PARTICLE FILTERS 33
3.3.1 BAYES FILTERING 33
3.3.2 APPROXIMATION BY PARTICLES 35
3.4 RELATED WORK 36
4 EFFICIENT VISUAL SELF-LOCALIZATION TECHNIQUES 41
4.1 METHOD OVERVIEW 41
4.2 MAPPING DIRECTION 43
BIBLIOGRAFISCHE INFORMATIONEN HTTP://D-NB.INFO/1012891909
DIGITALISIERT DURCH
IMAGE 2
CONTENTS
4.3 EFFICIENT GLOBAL IMAGE FEATURES 45
4.3.1 WEIGHTED GRADIENT ORIENTATION HISTOGRAMS 46
4.3.2 WEIGHTED GRID INTEGRAL INVARIANTS 48
4.3.3 COLOR AND GRAYSCALE GRID HISTOGRAMS 51
4.3.4 PIXELWISE IMAGE COMPARISON 52
4.4 POSITION ESTIMATION 52
4.4.1 IMAGE SIMILARITIES AND BEST MATCH 52
4.4.2 PARTICLE FILTER FOR SELF-LOCALIZATION WITH GLOBAL IMAGE FEATURES
53 4.5 EXPERIMENTAL RESULTS 56
4.5.1 EXPERIMENTAL SETUP 56
4.5.2 COMPARISON OF IMAGE FEATURES 57
4.5.3 SELF-LOCALIZATION USING THE PARTICLE FILTER 61
4.6 SUMMARY 66
5 AREA COVERAGE WITH A HETEROGENEOUS ROBOT TEAM 67
5.1 INTRODUCTION 67
5.2 RELATED WORK 69
5.2.1 HETEROGENEOUS GROUPS OF MOBILE ROBOTS . 70
5.2.2 COVERAGE ALGORITHMS 70
5.3 METHOD OVERVIEW 75
5.4 MULTI-ROBOT COVERAGE CONSIDERING LINE-OF-SIGHT CONDITIONS . . . 78
5.4.1 FORMALIZATION 78
5.4.2 EXTRACTION OF THE GRID OF VERTICES 79
5.4.3 CONSTRUCTION OF A PARENT ROADMAP GRAPH 79
5.4.4 CONSTRUCTION OF CHILD ROADMAP GRAPHS 82
5.4.5 TRANSITIONS BETWEEN PARENT VERTICES 86
5.5 EXPERIMENTAL RESULTS 87
5.6 SUMMARY 93
6 COOPERATIVE VISUAL MAPPING WITH A HETEROGENEOUS ROBOT TEAM 99 6.1
INTRODUCTION 99
6.2 RELATED WORK 102
6.2.1 VISUAL MAPPING 102
6.2.2 MULTI-ROBOT MAPPING 103
6.3 METHOD OVERVIEW 104
6.4 MULTI-ROBOT COOPERATIVE MAPPING AND SELF-LOCALIZATION 106 6.4.1
FORMALIZATION 106
6.4.2 CONSTRUCTION OF A PARENT ROADMAP GRAPH 108
6.4.3 CONSTRUCTION OF CHILD ROADMAP GRAPHS 108
6.4.4 TRANSITIONS BETWEEN PARENT VERTICES I LL
6.5 EXPERIMENTAL RESULTS 112
6.5.1 SIMULATION RESULTS 112
IMAGE 3
CONTENTS
6.5.2 REAL-WORLD RESULTS 115
6.5.3 COMPARISON TO MULTI-ROBOT COVERAGE 118
6.6 SUMMARY 119
7 SUMMARY AND OUTLOOK 121
7.1 CONCLUSIONS 121
7.2 FUTURE WORK 122
BIBLIOGRAPHY 124 |
| any_adam_object | 1 |
| author | Hofmeister, Marius |
| author_facet | Hofmeister, Marius |
| author_role | aut |
| author_sort | Hofmeister, Marius |
| author_variant | m h mh |
| building | Verbundindex |
| bvnumber | BV039572083 |
| classification_rvk | ST 308 |
| ctrlnum | (OCoLC)746258062 (DE-599)DNB1012891909 |
| dewey-full | 629.8932 |
| dewey-hundreds | 600 - Technology (Applied sciences) |
| dewey-ones | 629 - Other branches of engineering |
| dewey-raw | 629.8932 |
| dewey-search | 629.8932 |
| dewey-sort | 3629.8932 |
| dewey-tens | 620 - Engineering and allied operations |
| discipline | Informatik Elektrotechnik / Elektronik / Nachrichtentechnik Mess-/Steuerungs-/Regelungs-/Automatisierungstechnik / Mechatronik |
| format | Thesis Book |
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| id | DE-604.BV039572083 |
| illustrated | Illustrated |
| indexdate | 2024-07-21T00:09:26Z |
| institution | BVB |
| isbn | 9783832528874 3832528873 |
| language | English |
| oai_aleph_id | oai:aleph.bib-bvb.de:BVB01-024423587 |
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| physical | XIII, 148 S. Ill., graph. Darst. 21 cm |
| publishDate | 2011 |
| publishDateSearch | 2011 |
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| spelling | Hofmeister, Marius Verfasser aut Self-localization, mapping and coverage with resource-limited mobile robots von Marius Hofmeister Berlin Logos 2011 XIII, 148 S. Ill., graph. Darst. 21 cm txt rdacontent n rdamedia nc rdacarrier Zsfassung in dt. Sprache Zugl.: Tübingen, Univ., Diss., 2011 Mehrrobotersystem (DE-588)4734038-1 gnd rswk-swf Automatische Kartierung (DE-588)4003958-4 gnd rswk-swf Mobiler Roboter (DE-588)4191911-7 gnd rswk-swf Navigation (DE-588)4041457-7 gnd rswk-swf Lokalisierung Robotik (DE-588)7569134-6 gnd rswk-swf Gelände (DE-588)4019869-8 gnd rswk-swf Visual servoing (DE-588)7719524-3 gnd rswk-swf Bahnplanung (DE-588)4267628-9 gnd rswk-swf Innenraum (DE-588)4161787-3 gnd rswk-swf (DE-588)4113937-9 Hochschulschrift gnd-content Mobiler Roboter (DE-588)4191911-7 s Lokalisierung Robotik (DE-588)7569134-6 s Automatische Kartierung (DE-588)4003958-4 s Visual servoing (DE-588)7719524-3 s Bahnplanung (DE-588)4267628-9 s Navigation (DE-588)4041457-7 s Mehrrobotersystem (DE-588)4734038-1 s Innenraum (DE-588)4161787-3 s Gelände (DE-588)4019869-8 s DE-604 X:MVB text/html http://deposit.dnb.de/cgi-bin/dokserv?id=3842955&prov=M&dok_var=1&dok_ext=htm Inhaltstext DNB Datenaustausch application/pdf http://bvbr.bib-bvb.de:8991/F?func=service&doc_library=BVB01&local_base=BVB01&doc_number=024423587&sequence=000001&line_number=0001&func_code=DB_RECORDS&service_type=MEDIA Inhaltsverzeichnis |
| spellingShingle | Hofmeister, Marius Self-localization, mapping and coverage with resource-limited mobile robots Mehrrobotersystem (DE-588)4734038-1 gnd Automatische Kartierung (DE-588)4003958-4 gnd Mobiler Roboter (DE-588)4191911-7 gnd Navigation (DE-588)4041457-7 gnd Lokalisierung Robotik (DE-588)7569134-6 gnd Gelände (DE-588)4019869-8 gnd Visual servoing (DE-588)7719524-3 gnd Bahnplanung (DE-588)4267628-9 gnd Innenraum (DE-588)4161787-3 gnd |
| subject_GND | (DE-588)4734038-1 (DE-588)4003958-4 (DE-588)4191911-7 (DE-588)4041457-7 (DE-588)7569134-6 (DE-588)4019869-8 (DE-588)7719524-3 (DE-588)4267628-9 (DE-588)4161787-3 (DE-588)4113937-9 |
| title | Self-localization, mapping and coverage with resource-limited mobile robots |
| title_auth | Self-localization, mapping and coverage with resource-limited mobile robots |
| title_exact_search | Self-localization, mapping and coverage with resource-limited mobile robots |
| title_full | Self-localization, mapping and coverage with resource-limited mobile robots von Marius Hofmeister |
| title_fullStr | Self-localization, mapping and coverage with resource-limited mobile robots von Marius Hofmeister |
| title_full_unstemmed | Self-localization, mapping and coverage with resource-limited mobile robots von Marius Hofmeister |
| title_short | Self-localization, mapping and coverage with resource-limited mobile robots |
| title_sort | self localization mapping and coverage with resource limited mobile robots |
| topic | Mehrrobotersystem (DE-588)4734038-1 gnd Automatische Kartierung (DE-588)4003958-4 gnd Mobiler Roboter (DE-588)4191911-7 gnd Navigation (DE-588)4041457-7 gnd Lokalisierung Robotik (DE-588)7569134-6 gnd Gelände (DE-588)4019869-8 gnd Visual servoing (DE-588)7719524-3 gnd Bahnplanung (DE-588)4267628-9 gnd Innenraum (DE-588)4161787-3 gnd |
| topic_facet | Mehrrobotersystem Automatische Kartierung Mobiler Roboter Navigation Lokalisierung Robotik Gelände Visual servoing Bahnplanung Innenraum Hochschulschrift |
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