Towards real-time terrain modeling for robot navigation using a monocular camera | |
| Author | Tufail, Muhammad |
| Call Number | AIT Thesis no.ISE-07-46 |
| Subject(s) | Mobile robots Vision, Monocular |
| Note | A thesis submitt ed in partial fulfillment of the requirements for the degree of Master of Engineering, School of Engineering and Technology |
| Publisher | Asian Institute of Technology |
| Series Statement | Thesis ; no. ISE-07-46 |
| Abstract | For vision-based navigation of a mobile robot in an outdoor environment, terrain modeling is one of the basic capabilities that the mobile robot must have. Terrain modeling is obtained by 3D scene reconstruction from depth maps of the environment. In order to have enough information for robot navigation, dense depth maps must be constructed from images of the scene. Similar stereo vision based approaches have been pursued in research labs such as the Jet Propulsion Laboratory, NASA in Mars exploratory missions to navigate a rover, but to decrease cost, we want to obtain sim¬ilar results from a monocular camera and sequential pictures. In this thesis, the problem of dense 3D reconstruction from a depth map of the scene is addressed. The main purpose is to reduce the computational time needed for dense 3D reconstruction. For this purpose most of the algorithms are implemented in the C programming language in order to make the system approach real-time performance |
| Year | 2007 |
| Corresponding Series Added Entry | Asian Institute of Technology. Thesis ; no. ISE-07-46 |
| Type | Thesis |
| School | School of Engineering and Technology (SET) |
| Department | Department of Industrial Systems Engineering (DISE) |
| Academic Program/FoS | Industrial Systems Engineering (ISE) |
| Chairperson(s) | Dailey, Matthew; |
| Examination Committee(s) | Manukid Parnichkun;Thavida Maneewarn; |
| Scholarship Donor(s) | N-W.F.P. University of Engineering and Technology Peshawar, Pakistan; |
| Degree | Thesis (M.Eng.) - Asian Institute of Technology, 2007 |