Structure from motion using omni-directional vision and certainty grids

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dc.contributorGutierrez-Osuna, Ricardo
dc.creatorOrtiz, Steven Rey
dc.date.accessioned2004-11-15T19:50:29Z
dc.date.accessioned2017-04-07T19:49:06Z
dc.date.available2004-11-15T19:50:29Z
dc.date.available2017-04-07T19:49:06Z
dc.date.created2004-08
dc.date.issued2004-11-15
dc.description.abstractThis thesis describes a method to create local maps from an omni-directional vision system (ODVS) mounted on a mobile robot. Range finding is performed by a structure-from-motion method, which recovers the three-dimensional position of objects in the environment from omni-directional images. This leads to map-making, which is accomplished using certainty grids to fuse information from multiple readings into a two-dimensional world model. The system is demonstrated both on noise-free data from a custom-built simulator and on real data from an omni-directional vision system on-board a mobile robot. Finally, to account for the particular error characteristics of a real omni-directional vision sensor, a new sensor model for the certainty grid framework is also created and compared to the traditional sonar sensor model.
dc.identifier.urihttp://hdl.handle.net/1969.1/1217
dc.language.isoen_US
dc.publisherTexas A&M University
dc.subjectomni-directional vision
dc.subjectstructure from motion
dc.subjectcertainty grids
dc.subjectmobile robotics
dc.titleStructure from motion using omni-directional vision and certainty grids
dc.typeBook
dc.typeThesis

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