ETD

Archivio digitale delle tesi discusse presso l’Università di Pisa

Tesi etd-05272016-192352

Tipo di tesi

Tesi di laurea magistrale

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

Parole chiave

features
kalman filter
localization
mapping
mobile robots
opencv
ROS

Data inizio appello

21/06/2016

Consultabilità

Completa

Riassunto (Inglese)

Riassunto (Italiano)

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.

File

Nome file	Dimensione
sintesi.pdf	6.86 Mb
tesi.pdf	34.77 Mb
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