Browsing by Subject "Simultaneous localization and mapping"
Now showing 1 - 2 of 2
Results Per Page
Sort Options
Item Analysis of independent motion detection in 3D scenes(2012-08) Floren, Andrew William; Bovik, Alan C. (Alan Conrad), 1958-In this thesis, we develop an algorithm for detecting independent motion in real-time from 2D image sequences of arbitrarily complex 3D scenes. We discuss the necessary background information in image formation, optical flow, multiple view geometry, robust estimation, and real-time camera and scene pose estimation for constructing and understanding the operation of our algorithm. Furthermore, we provide an overview of existing independent motion detection techniques and compare them to our proposed solution. Unfortunately, the existing independent motion detection techniques were not evaluated quantitatively nor were their source code made publicly available. Therefore, it is not possible to make direct comparisons. Instead, we constructed several comparison algorithms which should have comparable performance to these previous approaches. We developed methods for quantitatively comparing independent motion detection algorithms and found that our solution had the best performance. By establishing a method for quantitatively evaluating these algorithms and publishing our results, we hope to foster better research in this area and help future investigators more quickly advance the state of the art.Item Segbot : a multipurpose robotic platform for multi-floor navigation(2014-12) Unwala, Ali Ishaq; Stone, Peter, 1971-The goal of this work is to describe a robotics platform called the Building Wide Intelligence Segbot (segbot). The segbot is a two wheeled robot that can robustly navigate our building, perform obstacle avoidance, and reason about the world. This work has two main goals. First we introduce the segbot platform to anyone that may use it in the future. We begin by examining off-the-shelf components we used and how to build a robot that is able to navigate in a complex multi-floor building environment with moving obstacles. Then we explain the software from a top down viewpoint, with a three layer abstraction model for segmenting code on any robotics platform. The second part of this document describes current work on the segbot platform, which is able to non-robustly take requests for coffee and navigate to a coffee shop while having to move across multiple floors in a building. My contribution to this work is building an infrastructure for multi-floor navigation. The multi-floor infrastructure built is non-robust but has helped identify several issues that will need to be tackled in future iterations of the segbot.