Pose estimation of mobile robots in partially and completely unknown environments

doctoral thesis

• Title (croatian): Estimacija položaja mobilnih robota u djelomično i potpuno nepoznatim prostorima
• Author: Andrej Kitanov
• Mentor: Ivan Petrović (mentor)
• Committee member: Nedjeljko Perić (predsjednik povjerenstva)
• Committee member: Lavoslav Čaklović (član povjerenstva)
• Committee member: Zoran Vukić (član povjerenstva)
• Committee member: Robert Cupec (član povjerenstva)
• Granter: University of Zagreb; Faculty of Electrical Engineering and Computing; (Department of Control and Computer Engineering); Zagreb
• Defense date and country: 2010-11-30, Croatia
• Scientific / art field, discipline and subdiscipline: TECHNICAL SCIENCES; Electrical Engineering; Automation and Robotics
• Universal decimal classification (UDC): 621.3; APPLIED SCIENCES. MEDICINE. TECHNOLOGY; Electrical engineering

Abstract

This disertation investigates algorithms for mobile robot's pose estimation in known and unknown environments. Probabilistic approach to mobile robot's pose estimation is used because environment model, mobile robot's dynamics model and sensors measurements are stochastic in nature. New algorithm for estimation of mobile robot's absolute pose is developed using RF ultrasound positioning sensors which, besides mobile robot's position, estimates also its orientation. Algorithm for relative mobile robot's pose estimation with monocular vision in known complex indoor 3D environments is also developed with special emphasis on modelling those environments, realtime execution in image features extraction and 3D model rendering. Robust simultaneous localization and map building (SLAM) algorithm based on stereo vision is developed. Its properties from estimation theoretical and implementational aspect are considered. All the algorithms are tested by simulations and experimentally.

Abstract (croatian)

U predloženoj disertaciji istraživani su algoritmi estimacije položaja mobilnih robota u poznatim i nepoznatim prostorima. Primijenjen je vjerojatnosni pristup estimaciji položaja mobilnog robota, jer su i model prostora i dinamički model robota i mjerenja senzora inherentno stohastički. Razvijen je i novi algoritam estimacije apsolutnog položaja mobilnog robota primjenom RF ultrazvučnih senzora, koji uz estimaciju pozicije estimira i orijentaciju mobilnog robota. Razvit je također i algoritam estimacije relativnog položaja mobilnog robota primjenom monokularnog senzora vida u poznatim složenim unutarnjim 3D prostorima s posebnim naglaskom na modeliranje tih prostora i rad u stvarnom vremenu kod izlučivanja značajki u slici i renderiranju 3D modela. Razvit će se robustan algoritam istodobne estimacije položaja mobilnog robota i modela nepoznatih prostora (SLAM algoritam) primjenom sterokamere. Analizirana su svojstva SLAM-a sa stajališta teorije estimacije i implementacije. Svi su algoritmi provjereni simulacijski i eksperimentalno.

• Keywords: Mobile robotics; pose estimation; RF ultrasound sensors; robot vision; SLAM
• Keywords (english): mobilna robotika; estimacija položzaja; RF ultrazvučcni senzori; robotski vid; SLAM
• Language: english
• URN:NBN: urn:nbn:hr:168:151407
• Project: Number: 036-0363078-3018; Title: Upravljanje mobilnim robotima i vozilima u nepoznatim i dinamičkim okruženjima; Leader: Ivan Petrović; Jurisdiction: Croatia; Funder: MZOS; Funding stream: ZP
• Study programme: Title: Doctoral study programme "Electrical Engineering and Computing"; Study programme type: university; Study level: postgraduate; Academic / professional title: doktor/doktorica znanosti, po-dručje tehničkih znanosti (doktor/doktorica znanosti, po-dručje tehničkih znanosti)
• Catalog URL: http://lib.fer.hr/cgi-bin/koha/opac-detail.pl?biblionumber=34402
• Type of resource: Text
• Extent: 153 str ; 30 cm
• File origin: Born digital
• Access conditions: Closed access
• Created on: 2019-06-07 09:42:56