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Archivio digitale delle tesi discusse presso l’Università di Pisa

Tesi etd-05272016-192352


Tipo di tesi
Tesi di laurea magistrale
Autore
LAFORTEZZA, GIUSEPPE
URN
etd-05272016-192352
Titolo
Visual feature-based absolute localization and mapping in gps-denied environments for mobile robots
Dipartimento
INGEGNERIA DELL'INFORMAZIONE
Corso di studi
INGEGNERIA ROBOTICA E DELL'AUTOMAZIONE
Relatori
relatore Prof.ssa Pallottino, Lucia
Parole chiave
  • features
  • kalman filter
  • localization
  • mapping
  • mobile robots
  • opencv
  • ROS
Data inizio appello
21/06/2016
Consultabilità
Completa
Riassunto
The problem addressed in this thesis is the global location of a mobile vehicle in a structured environment. To locate itself, the robot needs a map of the environment. If a map is not available, the robot can map the environment.
The problem of explore the environment given map to determine the pose of the robot, if this pose is a-priori unknown, is called active localization.
A method for the active localization using a given map (e.g. floor plan) has to be implemented. In this context, localization means that the robot finds its pose by exploring the environment.
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