Localização e mapeamento simultâneos de ambientes planos usando visão monocular e representação híbrida do ambiente

The goal of this work is to propose a SLAM (Simultaneous Localization and Mapping) solution based on Extended Kalman Filter (EKF) in order to make possible a robot navigates along the environment using information from odometry and pre-existing lines on the floor. Initially, a segmentation step i...

Full description

Saved in:
Bibliographic Details
Main Author: Santana, André Macêdo
Other Authors: Medeiros, Adelardo Adelino Dantas de
Format: doctoralThesis
Language:por
Published: Universidade Federal do Rio Grande do Norte
Subjects:
SLAM
Visão monocular
Grade de ocupação visual
Mapa híbrido
Filtro de kalman
Monocular vision
Occupancy grid maps
Hybrid map
Extended kalman filter
CNPQ::ENGENHARIAS::ENGENHARIA ELETRICA
Online Access:https://repositorio.ufrn.br/jspui/handle/123456789/15150
Tags: Add Tag
No Tags, Be the first to tag this record!

Internet

https://repositorio.ufrn.br/jspui/handle/123456789/15150

Similar Items