Vehicle-mounted twin laser scan system for simultaneous localization and mapping (SLAM) over uneven terrain
碩士 === 國立臺灣大學 === 土木工程學研究所 === 93 === The present thesis is devoted to the development of an imaging system for an underwater tracked vehicle. The objective is to be able to map the topography of river or coastal floors, and at the same time to position the vehicle with respect to this topography. T...
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ndltd-TW-093NTU050151402015-10-13T11:12:49Z http://ndltd.ncl.edu.tw/handle/03871331602678467789 Vehicle-mounted twin laser scan system for simultaneous localization and mapping (SLAM) over uneven terrain 載具裝置式雙雷射掃瞄系統於不平整地形之共時定位與地形建構 Song-Cheng Ho 何嵩晟 碩士 國立臺灣大學 土木工程學研究所 93 The present thesis is devoted to the development of an imaging system for an underwater tracked vehicle. The objective is to be able to map the topography of river or coastal floors, and at the same time to position the vehicle with respect to this topography. This is known in robotics as the Simultaneous Localization and Mapping (SLAM) problem. For underwater applications, special challenges arise due to the irregular nature of the topography and the low visibility. This effectively limits the imaging scope to the immediate neighbourhood of the vehicle. To address these challenges, the system proposed is based on two parallel laser sheets imaged by a single camera and scanning the ground in sequence as the vehicle progresses. Three chapters outline respectively the conceptual design, mathematical modeling, and experimental testing of this novel approach. The experimental tests are conducted outdoors, using an instrumented carriage to scan the topography of a textured bridge surface. Herve Capart 卡艾瑋 2005 學位論文 ; thesis 74 en_US |
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碩士 === 國立臺灣大學 === 土木工程學研究所 === 93 === The present thesis is devoted to the development of an imaging system for an underwater tracked vehicle. The objective is to be able to map the topography of river or coastal floors, and at the same time to position the vehicle with respect to this topography. This is known in robotics as the Simultaneous Localization and Mapping (SLAM) problem. For underwater applications, special challenges arise due to the irregular nature of the topography and the low visibility. This effectively limits the imaging scope to the immediate neighbourhood of the vehicle. To address these challenges, the system proposed is based on two parallel laser sheets imaged by a single camera and scanning the ground in sequence as the vehicle progresses. Three chapters outline respectively the conceptual design, mathematical modeling, and experimental testing of this novel approach. The experimental tests are conducted outdoors, using an instrumented carriage to scan the topography of a textured bridge surface.
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Herve Capart |
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Herve Capart Song-Cheng Ho 何嵩晟 |
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Song-Cheng Ho 何嵩晟 |
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Song-Cheng Ho 何嵩晟 Vehicle-mounted twin laser scan system for simultaneous localization and mapping (SLAM) over uneven terrain |
author_sort |
Song-Cheng Ho |
title |
Vehicle-mounted twin laser scan system for simultaneous localization and mapping (SLAM) over uneven terrain |
title_short |
Vehicle-mounted twin laser scan system for simultaneous localization and mapping (SLAM) over uneven terrain |
title_full |
Vehicle-mounted twin laser scan system for simultaneous localization and mapping (SLAM) over uneven terrain |
title_fullStr |
Vehicle-mounted twin laser scan system for simultaneous localization and mapping (SLAM) over uneven terrain |
title_full_unstemmed |
Vehicle-mounted twin laser scan system for simultaneous localization and mapping (SLAM) over uneven terrain |
title_sort |
vehicle-mounted twin laser scan system for simultaneous localization and mapping (slam) over uneven terrain |
publishDate |
2005 |
url |
http://ndltd.ncl.edu.tw/handle/03871331602678467789 |
work_keys_str_mv |
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