| Author | Nakarmi, Akash Dev |
| Call Number | AIT Thesis no.ICT-07-18 |
| Subject(s) | Mobile robots
|
| Note | A thesis submitted in partial fulfillment of the requirements for the degree of Master of Engineering in Information and Communications Technologies, School of Engineering and Technology |
| Publisher | Asian Institute of Technology |
| Series Statement | Thesis ; no. ICT-07-18 |
| Abstract | Autonomous Robot has become a familar term in computer vision. For practical applications like landmine detection, robotic systems should be able to simultaneously localize a robot and accurately map its surroundings meaning, such systems should meet the key prerequisite of truly autonomous robots. The problem of knowing the position in which a robot is situated in the environment is a central issue in intelligent robotics and has been deeply investigated in literature. Navigation of mobile robots in indoor environment using stereoscopic vision has become a common approach. Our interest here is to contruct a foundation for development of a robotic system which can eventually be used in practical landmine clearance missions. A simulation model is developed consisting of a mobile robot with a single lens camera mounted on its top, and its 3D environment. The main challenge of this thesis work is to make use of a single lens camera as the only visual sensor to be used for image capture and feature extraction. Starting with the extraction of highly distinctive Scale-Invariant Feature Transform (SIFT) keypoints, the system can automatically construct a feature map of the environment |
| Year | 2007 |
| Corresponding Series Added Entry | Asian Institute of Technology. Thesis ; no. ICT-07-18 |
| Type | Thesis |
| School | School of Engineering and Technology (SET) |
| Department | Department of Information and Communications Technologies (DICT) |
| Academic Program/FoS | Information and Communication Technology (ICT) |
| Chairperson(s) | Dailey, Matthew N; |
| Examination Committee(s) | Manukid Parnichkun;Thavida Maneewarn; |
| Scholarship Donor(s) | FINLAND;Asian Institute of Technology Fellowship; |
| Degree | Thesis (M.Eng.) - Asian Institute of Technology, 2007 |