Local visual feature based localisation and mapping by mobile robots

Local visual feature based localisation and mapping by mobile robots

This thesis addresses the problems of registration, localisation and simultaneous localisation and mapping (SLAM), relying particularly on local visual features extracted from camera images. These fundamental problems in mobile robot navigation are tightly coupled. Localisation requires a representa...

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Bibliographic Details
Main Author: Andreasson, Henrik
Format: Doctoral Thesis
Language:English
Published: Örebro universitet, Institutionen för teknik 2008
Subjects:
mobile robotics
registration
localisation
SLAM
mapping
omnidirectional vision
3D vision
appearance based
TECHNOLOGY
TEKNIKVETENSKAP
Computer science
Datavetenskap
Online Access:http://urn.kb.se/resolve?urn=urn:nbn:se:oru:diva-2444
http://nbn-resolving.de/urn:isbn:978-91-7668-614-0

Internet

http://urn.kb.se/resolve?urn=urn:nbn:se:oru:diva-2444
http://nbn-resolving.de/urn:isbn:978-91-7668-614-0

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