Visual navigation and control of a mobile robot
(2017) In Master's Theses in Mathematical Sciences FMA820 20162Mathematics (Faculty of Engineering)
- Abstract
- As cameras become cheaper and better, using them as sensors have become increasingly more common. This is especially true in robotics and for autonomous robot navigation. This thesis suggests a method where inputs from a single camera are used for making a robot self driving. The robot is assumed to move along planar surfaces, common in indoor environments.
The method is based on matching image features to a prebuilt navigation map also made up of image features. The method is evaluated by making a successful implementation on a mobile robot.
Since a camera is the only input, it proves that the quality of the camera is of high importance. All cameras in motion suffer from distortion. It is referred to as motion blur and arises when... (More) - As cameras become cheaper and better, using them as sensors have become increasingly more common. This is especially true in robotics and for autonomous robot navigation. This thesis suggests a method where inputs from a single camera are used for making a robot self driving. The robot is assumed to move along planar surfaces, common in indoor environments.
The method is based on matching image features to a prebuilt navigation map also made up of image features. The method is evaluated by making a successful implementation on a mobile robot.
Since a camera is the only input, it proves that the quality of the camera is of high importance. All cameras in motion suffer from distortion. It is referred to as motion blur and arises when the scene changes during the recording of a single exposure. To try and exploit that cameras are cheap, it is investigated if a simple USB camera is sufficient for the method. It proves to be, but to keep the motion blur low, the maximum velocity of the robot is heavily limited. (Less) - Popular Abstract (Swedish)
- Robotar kan programmeras för att självmant röra sig runt i världen. I takt med att kameror blir både billigare och bättre är det vanligt att robotar använder kameror för att se sin omvärld.
Please use this url to cite or link to this publication:
http://lup.lub.lu.se/student-papers/record/8905290
- author
- Rudbeck, Fredrik LU
- supervisor
- organization
- course
- FMA820 20162
- year
- 2017
- type
- H2 - Master's Degree (Two Years)
- subject
- keywords
- Image analysis, robot control
- publication/series
- Master's Theses in Mathematical Sciences
- report number
- LUFTMA-3311-2017
- ISSN
- 1404-6342
- other publication id
- 2017:E7
- language
- English
- id
- 8905290
- date added to LUP
- 2017-06-20 15:14:37
- date last changed
- 2018-10-11 16:20:23
@misc{8905290, abstract = {{As cameras become cheaper and better, using them as sensors have become increasingly more common. This is especially true in robotics and for autonomous robot navigation. This thesis suggests a method where inputs from a single camera are used for making a robot self driving. The robot is assumed to move along planar surfaces, common in indoor environments. The method is based on matching image features to a prebuilt navigation map also made up of image features. The method is evaluated by making a successful implementation on a mobile robot. Since a camera is the only input, it proves that the quality of the camera is of high importance. All cameras in motion suffer from distortion. It is referred to as motion blur and arises when the scene changes during the recording of a single exposure. To try and exploit that cameras are cheap, it is investigated if a simple USB camera is sufficient for the method. It proves to be, but to keep the motion blur low, the maximum velocity of the robot is heavily limited.}}, author = {{Rudbeck, Fredrik}}, issn = {{1404-6342}}, language = {{eng}}, note = {{Student Paper}}, series = {{Master's Theses in Mathematical Sciences}}, title = {{Visual navigation and control of a mobile robot}}, year = {{2017}}, }