Tesi etd-05272016-192352 |
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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
- mobile robots
- mapping
- localization
- kalman filter
- features
- 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.
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.
File
| Nome file | Dimensione |
|---|---|
| sintesi.pdf | 6.86 Mb |
| tesi.pdf | 34.77 Mb |
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