prikaz prve stranice dokumenta Pose estimation of mobile robots in partially and completely unknown environments
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doctoral thesis
Pose estimation of mobile robots in partially and completely unknown environments
Zagreb: University of Zagreb, Faculty of Electrical Engineering and Computing, 2010. urn:nbn:hr:168:151407
Kitanov, Andrej
University of Zagreb
Faculty of Electrical Engineering and Computing
Department of Control and Computer Engineering

Institutional repository: FER Repository

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Kitanov, A. (2010). Pose estimation of mobile robots in partially and completely unknown environments (Doctoral thesis). Zagreb: University of Zagreb, Faculty of Electrical Engineering and Computing. Retrieved from https://urn.nsk.hr/urn:nbn:hr:168:151407

Kitanov, Andrej. "Pose estimation of mobile robots in partially and completely unknown environments." Doctoral thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, 2010. https://urn.nsk.hr/urn:nbn:hr:168:151407

Kitanov, Andrej. "Pose estimation of mobile robots in partially and completely unknown environments." Doctoral thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, 2010. https://urn.nsk.hr/urn:nbn:hr:168:151407

Kitanov, A. (2010). 'Pose estimation of mobile robots in partially and completely unknown environments', Doctoral thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, accessed 05 May 2024, https://urn.nsk.hr/urn:nbn:hr:168:151407

Kitanov A. Pose estimation of mobile robots in partially and completely unknown environments [Doctoral thesis]. Zagreb: University of Zagreb, Faculty of Electrical Engineering and Computing; 2010 [cited 2024 May 05] Available at: https://urn.nsk.hr/urn:nbn:hr:168:151407

A. Kitanov, "Pose estimation of mobile robots in partially and completely unknown environments", Doctoral thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, Zagreb, 2010. Available at: https://urn.nsk.hr/urn:nbn:hr:168:151407

Metadata
TitlePose estimation of mobile robots in partially and completely unknown environments
Title (croatian)Estimacija položaja mobilnih robota u djelomično i potpuno nepoznatim prostorima
AuthorAndrej Kitanov
MentorIvan Petrović (mentor)
Committee memberNedjeljko Perić (predsjednik povjerenstva)
Committee memberLavoslav Čaklović (član povjerenstva)
Committee memberZoran Vukić (član povjerenstva)
Committee memberRobert Cupec (član povjerenstva)
GranterUniversity of Zagreb
Faculty of Electrical Engineering and Computing
(Department of Control and Computer Engineering)
Zagreb
Defense date and country2010-11-30, Croatia
Scientific / art field,
discipline and subdiscipline		TECHNICAL SCIENCES
Electrical Engineering
Automation and Robotics
Universal decimal classification
(UDC)		621.3 - Electrical engineering
Abstract
This disertation investigates algorithms for mobile robot's pose estimation in known and unknown environments. Probabilistic approach to mobile robot's pose estimation is used because environment model, mobile robot's dynamics model and sensors measurements are stochastic in nature. New algorithm for estimation of mobile robot's absolute pose is developed using RF ultrasound positioning sensors which, besides mobile robot's position, estimates also its orientation. Algorithm for relative mobile robot's pose estimation with monocular vision in known complex indoor 3D environments is also developed with special emphasis on modelling those environments, realtime execution in image features extraction and 3D model rendering. Robust simultaneous localization and map building (SLAM) algorithm based on stereo vision is developed. Its properties from estimation theoretical and implementational aspect are considered. All the algorithms are tested by simulations and experimentally.
Abstract (croatian)
U predloženoj disertaciji istraživani su algoritmi estimacije položaja mobilnih robota u poznatim i nepoznatim prostorima. Primijenjen je vjerojatnosni pristup estimaciji položaja mobilnog robota, jer su i model prostora i dinamički model robota i mjerenja senzora inherentno stohastički. Razvijen je i novi algoritam estimacije apsolutnog položaja mobilnog robota primjenom RF ultrazvučnih senzora, koji uz estimaciju pozicije estimira i orijentaciju mobilnog robota. Razvit je također i algoritam estimacije relativnog položaja mobilnog robota primjenom monokularnog senzora vida u poznatim složenim unutarnjim 3D prostorima s posebnim naglaskom na modeliranje tih prostora i rad u stvarnom vremenu kod izlučivanja značajki u slici i renderiranju 3D modela. Razvit će se robustan algoritam istodobne estimacije položaja mobilnog robota i modela nepoznatih prostora (SLAM algoritam) primjenom sterokamere. Analizirana su svojstva SLAM-a sa stajališta teorije estimacije i implementacije. Svi su algoritmi provjereni simulacijski i eksperimentalno.
Keywords
Keywords (english)
Languageenglish
URN:NBNurn:nbn:hr:168:151407
ProjectNumber: 036-0363078-3018
Title: Upravljanje mobilnim robotima i vozilima u nepoznatim i dinamičkim okruženjima
Leader: Ivan Petrović
Jurisdiction: Croatia
Funder: MZOS
Funding stream: ZP
Study programmeTitle: Doctoral study programme "Electrical Engineering and Computing"
Study programme type: university
Study level: postgraduate
Academic / professional title: doktor/doktorica znanosti, po-dručje tehničkih znanosti (doktor/doktorica znanosti, po-dručje tehničkih znanosti)
Catalog URLhttp://lib.fer.hr/cgi-bin/koha/opac-detail.pl?biblionumber=34402
Type of resourceText
Extent153 str ; 30 cm
File originBorn digital
Access conditionsClosed access
Terms of useLicence In copyright icon
Created on2019-06-07 09:42:56