Localização de robôs móveis em ambientes fechados utilizando câmeras montadas no teto
The localization of mobile robots in indoor environments finds lots of problems such as accumulated errors and the constant changes that occur at these places. A technique called global vision intends to localize robots using images acquired by cameras placed in such a way that covers the place w...
محفوظ في:
| المؤلف الرئيسي: | |
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| مؤلفون آخرون: | |
| التنسيق: | Dissertação |
| اللغة: | por |
| منشور في: |
Universidade Federal do Rio Grande do Norte
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| الموضوعات: | |
| الوصول للمادة أونلاين: | https://repositorio.ufrn.br/jspui/handle/123456789/20775 |
| الوسوم: |
إضافة وسم
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| الملخص: | The localization of mobile robots in indoor environments finds lots of problems such
as accumulated errors and the constant changes that occur at these places.
A technique called global vision intends to localize robots using images acquired by
cameras placed in such a way that covers the place where the robots movement takes
place. Localization is obtained by marks put on top of the robot. Algorithms applied to
the images search for the mark on top of the robot and by finding the mark they are able
to get the position and orientation of the robot. Such techniques used to face some difficulties related with the hardware capacity, fact that limited their execution in real time. However, the technological advances of
the last years changed that situation and enabling the development and execution of such
algorithms in plain capacity. The proposal specified here intends to develop a mobile robot localization system at indoor environments using a technique called global vision to track the robot and acquire
the images, all in real time, intending to improve the robot localization process inside the
environment. Being a localization method that takes just actual information in its calculations, the
robot localization using images fit into the needs of this kind of place. Besides, it enables
more accurate results and in real time, what is exactly the museum application needs. |
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