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Comparison of mobile platform localisation using odometry and visual information

Matej Urbanija (2012) Comparison of mobile platform localisation using odometry and visual information. EngD thesis.

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    The purpose of this thesis was to compare robot odometry with localization using visual information. In this thesis we used a robot iRobot Roomba series 531. Since this is a commercial robot, the price of such robots is relatively low, therefore odometry of such robots is very inaccurate. Localization with visual information was realised such, that we fixated color camera on top of a robot, which was directed toward the ceiling. On the ceiling, we attached four markers, through which robot movement was calculated, according to the captured image of ceiling markers in the initial robot position. The system was evaluated so the robot was given a pre-known path on which it moves, through which the error of robot odometry has been found. On the same path accuracy of visual information was obtained. At the end we compared errors of visual information and robot odometry.

    Item Type: Thesis (EngD thesis)
    Keywords: odometry, mobile robot, visual information, calculating robot positioning, ceiling markers, testing, odometry and visual information comparison
    Number of Pages: 60
    Language of Content: Slovenian
    Mentor / Comentors:
    Name and SurnameIDFunction
    doc. dr. Danijel Skočaj296Mentor
    Link to COBISS: http://www.cobiss.si/scripts/cobiss?command=search&base=50070&select=(ID=00009400916)
    Institution: University of Ljubljana
    Department: Faculty of Computer and Information Science
    Item ID: 1821
    Date Deposited: 19 Sep 2012 17:09
    Last Modified: 26 Sep 2012 12:20
    URI: http://eprints.fri.uni-lj.si/id/eprint/1821

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