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...

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Библиографические подробности
Главный автор: Santana, André Macêdo
Другие авторы: Medeiros, Adelardo Adelino Dantas de
Формат: doctoralThesis
Язык:por
Опубликовано: Universidade Federal do Rio Grande do Norte
Предметы:
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-ссылка:https://repositorio.ufrn.br/jspui/handle/123456789/15150
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https://repositorio.ufrn.br/jspui/handle/123456789/15150

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