A Low-cost Omni-directional Visual Bearing Only Localization System
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Case Western Reserve University School of Graduate Studies / OhioLINK
2014
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| Online Access: | http://rave.ohiolink.edu/etdc/view?acc_num=case1386695142 |
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ndltd-OhioLink-oai-etd.ohiolink.edu-case13866951422021-08-03T06:21:06Z A Low-cost Omni-directional Visual Bearing Only Localization System hart, charles Computer Science Robotics omnicam camera omnidirectional panoramic catadioptric spherical reflector triangulation power center localization particle filter computer vision raspberry pi zumo robot robotics low-cost inexpensive python matlab opencv RAMBLER Robot is designed to enable research on biologically inspired behavioral robot control algorithms. RAMBLER Robot tests the feasibility of autonomously localizing without typical sensors like wheel odometers or GPS. The primary objective is to independently, accurately, and robustly recover the path of a moving robotic system with only the lowest-cost sensors available off-the-shelf. Methods new and old are reviewed and tested on the real RAMBLER Robot hardware. The hardware and software necessary to use omni-directional camera measurements to decrease uncertainty regarding the position and heading of a small robot system are presented in detail. The RAMBLER Robot is shown to successfully localize within a small arena using three passive indistinguishable landmarks. 2014-02-21 English text Case Western Reserve University School of Graduate Studies / OhioLINK http://rave.ohiolink.edu/etdc/view?acc_num=case1386695142 http://rave.ohiolink.edu/etdc/view?acc_num=case1386695142 unrestricted This thesis or dissertation is protected by copyright: all rights reserved. It may not be copied or redistributed beyond the terms of applicable copyright laws. |
| collection |
NDLTD |
| language |
English |
| sources |
NDLTD |
| topic |
Computer Science Robotics omnicam camera omnidirectional panoramic catadioptric spherical reflector triangulation power center localization particle filter computer vision raspberry pi zumo robot robotics low-cost inexpensive python matlab opencv |
| spellingShingle |
Computer Science Robotics omnicam camera omnidirectional panoramic catadioptric spherical reflector triangulation power center localization particle filter computer vision raspberry pi zumo robot robotics low-cost inexpensive python matlab opencv hart, charles A Low-cost Omni-directional Visual Bearing Only Localization System |
| author |
hart, charles |
| author_facet |
hart, charles |
| author_sort |
hart, charles |
| title |
A Low-cost Omni-directional Visual Bearing Only Localization System |
| title_short |
A Low-cost Omni-directional Visual Bearing Only Localization System |
| title_full |
A Low-cost Omni-directional Visual Bearing Only Localization System |
| title_fullStr |
A Low-cost Omni-directional Visual Bearing Only Localization System |
| title_full_unstemmed |
A Low-cost Omni-directional Visual Bearing Only Localization System |
| title_sort |
low-cost omni-directional visual bearing only localization system |
| publisher |
Case Western Reserve University School of Graduate Studies / OhioLINK |
| publishDate |
2014 |
| url |
http://rave.ohiolink.edu/etdc/view?acc_num=case1386695142 |
| work_keys_str_mv |
AT hartcharles alowcostomnidirectionalvisualbearingonlylocalizationsystem AT hartcharles lowcostomnidirectionalvisualbearingonlylocalizationsystem |
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1719434912212189184 |