MIT Press Introduction to Autonomous Mobile Robots Part 13 potx

... of Kalman filter localization. 5.6.3.1 Introduction to Kalman filter theory The basic Kalman filter method allows multiple measurements to be incorporated opti- mally into a single estimate of state. ... the map. These lines are stored in the map and specified in the world coordinate system . Therefore they need to be transformed to the robot frame : (5.63) According to figure (5...

Ngày tải lên: 10/08/2014, 05:20

... Links to Mobile Robots 314 Index 317 Autonomous Mobile Robots Introduction to Roland Illah R. SIEGWART NOURBAKHSH Autonomous Mobile Robots SIEGWART and NOURBAKHSH Introduction to Introduction to ... localization strategies, autonomous mapping, and navigation competence. Bringing together all aspects of mobile robotics into one volume, Introduction to A...

Ngày tải lên: 10/08/2014, 05:20

... motion detector based on the Doppler effect. These sensors represent a well-known technology with decades of general applications behind them. For fast-moving mobile robots such as autonomous highway ... sensitive to light between 400 and 1000 nm wavelength. It is important to remember that photodiodes are less sensitive to the ultraviolet end of the spectrum (e.g., blue) and are...

Ngày tải lên: 10/08/2014, 05:20

... on the top of EPFL’s STeam Engine soccer robots enable a color-tracking sensor to locate the robots and the ball in the soccer field. 128 Chapter 4 (4.23) Intuitively, point contributes to the ... ring. For this reason this method has not been applied to mobile robots. A variation of the depth from focus technique has been applied to a mobile robot, dem- onstrating obstacle...

Ngày tải lên: 10/08/2014, 05:20

... by taking uncertainty into account explicitly. 4.3.1.3 Range histogram features A histogram is a simple way to combine characteristic elements of an image. An angle his- togram, as presented in ... refer to [91, 131 ]. For example, one segmentation technique is the merging, or bottom-up technique in which smaller features are identified and then merged together based on decision criteria...

Ngày tải lên: 10/08/2014, 05:20

... such histograms as whole-image features, we need ways to compare to histograms to quantify the likelihood that the histograms map to nearby robot positions. The problem of defining useful histogram ... local feature extractor used by the mobile robotics community is the edge detector, and so we begin with a discussion of this classic topic in computer vision. However, mobile robo...

Ngày tải lên: 10/08/2014, 05:20

... are partic- ularly appropriate for study given their significant recent successes in enabling mobile robots to navigate a variety of environments, from academic research buildings, to factory floors, ... involves line extraction. Many indoor mobile robots rely upon laser rangefinding devices to recover distance readings to nearby objects. Such robots can automatically extrac...

Ngày tải lên: 10/08/2014, 05:20