Vision-based localization, map building and obstacle reconstruction in ground plane environments |
Posted on:2005-07-20 | Degree:Ph.D | Type:Thesis |
University:University of Ottawa (Canada) | Candidate:Hajjdiab, Hassan | Full Text:PDF |
GTID:2458390008494180 | Subject:Computer Science |
Abstract/Summary: | |
The work described in this thesis develops the theory of 3D obstacle reconstruction and map building problems in the context of a robot, or a team of robots, equipped with one camera mounted on board. The study is composed of many problems representing the different phases of actions taken by the robot.; This thesis first studies the problem of image matching for wide baseline images taken by moving robots. The ground plane is detected and the inter-image homography induced by the ground plane is calculated. A novel technique for ground plane matching is introduced using the overhead view transformation.; The thesis then studies the simultaneous localization and map building (SLAM) problem for a team of robots collaborating in the same work site. A vision-based technique is introduced in this thesis to solve the SLAM problem.; The third problem studied in this thesis is the 3D obstacle reconstruction of the obstacles lying on the ground surface. In this thesis a Geometric/Variational level set method is proposed to reconstruct the obstacles detected by the robots. |
Keywords/Search Tags: | Map building, Obstacle reconstruction, Ground, Thesis, Robots, Problem |
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