dc.contributor.advisor | Gutierrez-Osuna, Ricardo | |
dc.creator | Ortiz, Steven Rey | |
dc.date.accessioned | 2004-11-15T19:50:29Z | |
dc.date.available | 2004-11-15T19:50:29Z | |
dc.date.created | 2004-08 | |
dc.date.issued | 2004-11-15 | |
dc.identifier.uri | https://hdl.handle.net/1969.1/1217 | |
dc.description.abstract | This thesis describes a method to create local maps from an omni-directional vision
system (ODVS) mounted on a mobile robot. Range finding is performed by a
structure-from-motion method, which recovers the three-dimensional position of objects
in the environment from omni-directional images. This leads to map-making,
which is accomplished using certainty grids to fuse information from multiple readings
into a two-dimensional world model. The system is demonstrated both on noise-free
data from a custom-built simulator and on real data from an omni-directional vision
system on-board a mobile robot. Finally, to account for the particular error characteristics
of a real omni-directional vision sensor, a new sensor model for the certainty
grid framework is also created and compared to the traditional sonar sensor model. | en |
dc.format.extent | 4925088 bytes | en |
dc.format.extent | 82 bytes | en |
dc.format.medium | electronic | en |
dc.format.mimetype | application/pdf | |
dc.format.mimetype | text/plain | |
dc.language.iso | en_US | |
dc.publisher | Texas A&M University | |
dc.subject | omni-directional vision | en |
dc.subject | structure from motion | en |
dc.subject | certainty grids | en |
dc.subject | mobile robotics | en |
dc.title | Structure from motion using omni-directional vision and certainty grids | en |
dc.type | Book | en |
dc.type | Thesis | en |
thesis.degree.department | Computer Science | en |
thesis.degree.discipline | Computer Science | en |
thesis.degree.grantor | Texas A&M University | en |
thesis.degree.name | Master of Science | en |
thesis.degree.level | Masters | en |
dc.contributor.committeeMember | Amato, Nancy | |
dc.contributor.committeeMember | Langari, Reza | |
dc.type.genre | Electronic Thesis | en |
dc.type.material | text | en |
dc.format.digitalOrigin | born digital | en |