Efficient and robust map building from a downward looking camera with loop closing
(2016) In Master's Theses in Mathematical Sciences FMA820 20161Mathematics (Faculty of Engineering)
- Abstract
- Since good cameras are becoming cheaper and embedded systems are getting more powerful, using cameras as the only sensor is getting more popular for visual navigation of robots. By using a robot to explore a flat surface a map can be gradually generated using the images taken by a downward looking camera. The thesis focus lies primarily on offline map building, where complete datasets are first gathered and then analysed without real-time requirements.
An algorithm to build the map is developed and tested on various simulated and real datasets. Images are aligned sequentially to estimate relative robot translation and rotation between image frames. Such estimations are prone to drifting errors, errors which will be minimized by finding... (More) - Since good cameras are becoming cheaper and embedded systems are getting more powerful, using cameras as the only sensor is getting more popular for visual navigation of robots. By using a robot to explore a flat surface a map can be gradually generated using the images taken by a downward looking camera. The thesis focus lies primarily on offline map building, where complete datasets are first gathered and then analysed without real-time requirements.
An algorithm to build the map is developed and tested on various simulated and real datasets. Images are aligned sequentially to estimate relative robot translation and rotation between image frames. Such estimations are prone to drifting errors, errors which will be minimized by finding loop closings in the image sequence. A loop closing is found whenever the algorithm detects that the robot has entered a previously mapped area.
The algorithm shows promising results on both real and simulated datasets. However, the time complexity for finding loop closings is far from meeting a real-time requirement. Further work includes optimization of the algorithm to exploit the structure of the system, as well as implementing an efficient search method to find loop closings in the image sequence. (Less)
Please use this url to cite or link to this publication:
http://lup.lub.lu.se/student-papers/record/8893989
- author
- Brange, Elias LU
- supervisor
- organization
- course
- FMA820 20161
- year
- 2016
- type
- H2 - Master's Degree (Two Years)
- subject
- publication/series
- Master's Theses in Mathematical Sciences
- report number
- LUTFMA-3305-2016
- ISSN
- 1404-6342
- other publication id
- 2016:E45
- language
- English
- id
- 8893989
- date added to LUP
- 2016-11-16 10:43:54
- date last changed
- 2016-11-16 10:43:54
@misc{8893989,
abstract = {{Since good cameras are becoming cheaper and embedded systems are getting more powerful, using cameras as the only sensor is getting more popular for visual navigation of robots. By using a robot to explore a flat surface a map can be gradually generated using the images taken by a downward looking camera. The thesis focus lies primarily on offline map building, where complete datasets are first gathered and then analysed without real-time requirements.
An algorithm to build the map is developed and tested on various simulated and real datasets. Images are aligned sequentially to estimate relative robot translation and rotation between image frames. Such estimations are prone to drifting errors, errors which will be minimized by finding loop closings in the image sequence. A loop closing is found whenever the algorithm detects that the robot has entered a previously mapped area.
The algorithm shows promising results on both real and simulated datasets. However, the time complexity for finding loop closings is far from meeting a real-time requirement. Further work includes optimization of the algorithm to exploit the structure of the system, as well as implementing an efficient search method to find loop closings in the image sequence.}},
author = {{Brange, Elias}},
issn = {{1404-6342}},
language = {{eng}},
note = {{Student Paper}},
series = {{Master's Theses in Mathematical Sciences}},
title = {{Efficient and robust map building from a downward looking camera with loop closing}},
year = {{2016}},
}