Dissertations / Theses: 'Indoor mobile mapping system'

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Gomes, Pedro Miguel de Barros. "LADAR based mapping and obstacle detection system for service robots." Master's thesis, Faculdade de Ciências e Tecnologia, 2010. http://hdl.handle.net/10362/4589.

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Dissertação apresentada na Faculdade de Ciências e Tecnologia da Universidade Nova de Lisboa para a obtenção do grau de Mestre em Engenharia Electrotécnica e de Computadores
When travelling in unfamiliar environments, a mobile service robot needs to acquire information about his surroundings in order to detect and avoid obstacles and arrive safely at his destination. This dissertation presents a solution for the problem of mapping and obstacle detection in indoor/outdoor structured3 environments, with particular application on service robots equipped with a LADAR. Since this system was designed for structured environments, offroad terrains are outside the scope of this work. Also, the use of any a priori knowledge about LADAR’s surroundings is discarded, i.e. the developed mapping and obstacle detection system works in unknown environments. In this solution, it is assumed that the robot, which carries the LADAR and the mapping and obstacle detection system, is based on a planar surface which is considered to be the ground plane. The LADAR is positioned in a way suitable for a three dimensional world and an AHRS sensor is used to increase the robustness of the system to variations on robot’s attitude, which, in turn, can cause false positives on obstacle detection. The results from the experimental tests conducted in real environments through the incorporation on a physical robot suggest that the developed solution can be a good option for service robots driving in indoor/outdoor structured environments.

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Althaus, Philipp. "Indoor Navigation for Mobile Robots : Control and Representations." Doctoral thesis, KTH, Numerical Analysis and Computer Science, NADA, 2003. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-3644.

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This thesis deals with various aspects of indoor navigationfor mobile robots. For a system that moves around in ahousehold or office environment,two major problems must betackled. First, an appropriate control scheme has to bedesigned in order to navigate the platform. Second, the form ofrepresentations of the environment must be chosen.

Behaviour based approaches have become the dominantmethodologies for designing control schemes for robotnavigation. One of them is the dynamical systems approach,which is based on the mathematical theory of nonlineardynamics. It provides a sound theoretical framework for bothbehaviour design and behaviour coordination. In the workpresented in this thesis, the approach has been used for thefirst time to construct a navigation system for realistic tasksin large-scale real-world environments. In particular, thecoordination scheme was exploited in order to combinecontinuous sensory signals and discrete events for decisionmaking processes. In addition, this coordination frameworkassures a continuous control signal at all times and permitsthe robot to deal with unexpected events.

In order to act in the real world, the control system makesuse of representations of the environment. On the one hand,local geometrical representations parameterise the behaviours.On the other hand, context information and a predefined worldmodel enable the coordination scheme to switchbetweensubtasks. These representations constitute symbols, on thebasis of which the system makes decisions. These symbols mustbe anchored in the real world, requiring the capability ofrelating to sensory data. A general framework for theseanchoring processes in hybrid deliberative architectures isproposed. A distinction of anchoring on two different levels ofabstraction reduces the complexity of the problemsignificantly.

A topological map was chosen as a world model. Through theadvanced behaviour coordination system and a proper choice ofrepresentations,the complexity of this map can be kept at aminimum. This allows the development of simple algorithms forautomatic map acquisition. When the robot is guided through theenvironment, it creates such a map of the area online. Theresulting map is precise enough for subsequent use innavigation.

In addition, initial studies on navigation in human-robotinteraction tasks are presented. These kinds of tasks posedifferent constraints on a robotic system than, for example,delivery missions. It is shown that the methods developed inthis thesis can easily be applied to interactive navigation.Results show a personal robot maintaining formations with agroup of persons during social interaction.

Keywords:mobile robots, robot navigation, indoornavigation, behaviour based robotics, hybrid deliberativesystems, dynamical systems approach, topological maps, symbolanchoring, autonomous mapping, human-robot interaction

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Nováková, Věra. "Vypracování metodik pro tvorbu informačního modelu budovy." Master's thesis, Vysoké učení technické v Brně. Fakulta stavební, 2014. http://www.nusl.cz/ntk/nusl-227099.

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This thesis is focused on creation of building information model (BIM) for existing buildings. The main objective of this work is to develop the methodology (workflow) for the creation of BIM model using selected geodetic methods, specifically for the modeling based on the existing documentation of the building, the modeling from the handheld distance meter and the modeling from point cloud acquired by the indoor mapping system. The aim of these workflows is to explore the suitability of these methods, to check the limits of each method and to point out the potential issues. Revit (version 2013 and 2014) was used as an authoring environment for creation of the models. Workflow for modeling based on the documentation of the building shows how to insert drawings into Revit and how to create a model based on these drawings. The workflow was developed based on experience with creation of model of an office building. The workflow for handheld laser distance meter describes how to work with rangefinder equipped with Bluetooth, which allows user to create a model onsite. The third part of this thesis deals with creation of BIM from pointcloud acquired by indoor mobile mapping system. The workflow describes data collection and point clouds processing directly in Revit using the ScanToBIM extension. The results of this work are methodical instructions for the methods described above and the comparison of these methods. Workflows contain recommended procedures and highlight common issues and mistakes. This should enable the readers of this thesis to choose the right method and avoid common mistakes.

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Ceroni, Rodrigo. "Mobile Mapping System." Bachelor's thesis, Alma Mater Studiorum - Università di Bologna, 2016.

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Nella tesi si espone il Mobile Mapping System, cioè il rilevamento di dati geospaziali utilizzando sensori montati a bordo di appositi veicolo senza l'ausilio di punti di contatto a terra. Si illustrano i diversi dispositivi del sistema installati a bordo, le loro diverse applicazioni e metodologie di rilevamento. Si trattano le varie problematiche sorte e le loro risoluzioni.

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McCoig, Kenneth. "A MOBILE ROBOTIC COMPUTING PLATFORM FOR THREE-DIMENSIONAL INDOOR MAPPI." Master's thesis, University of Central Florida, 2004. http://digital.library.ucf.edu/cdm/ref/collection/ETD/id/2372.

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There are several industries exploring solutions to quickly and accurately digitize unexplored indoor environments, into useable three-dimensional databases. Unfortunately, there are inherent challenges to the indoor mapping process such as, scanning limitations and environment complexity, which require a specific application of tools to map an environment precisely with low cost and high speed. This thesis successfully demonstrates the design and implementation of a low cost mobile robotic computing platform with laser scanner, for quickly mapping with high resolution, urban and/or indoor environments using a gyro-enhanced orientation sensor and selectable levels of detail. In addition, a low cost alternative solution to three-dimensional laser scanning is presented, via a standard two-dimensional SICK proximity laser scanner mounted to a custom servo motor mount and controlled by external microcontroller. A software system to control the robot is presented, which incorporates and adheres to widely accepted software engineering guidelines and principles. An analysis of the overall system, including robot specifications, system capabilities, and justification for certain design decisions, are described in detail. Results of various open source software algorithms, as it applies to scan data and image data, are also compared; including evaluation of data correlation and registration techniques. In addition, laser scanner mapping tests, specifications, and capabilities are presented and analyzed. A sample design for converting the final scanned point cloud data to a database is presented and assessed. The results suggest the overall project yields a relatively high degree of accuracy and lower cost over most other existing systems surveyed, as well as, the potential for application of the system in other fields. The results also discuss thoughts for possible future research work.
M.S.Cp.E.
Department of Electrical and Computer Engineering
Engineering and Computer Science
Computer Engineering

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Dag, Antymos. "Autonomous Indoor Navigation System for Mobile Robots." Thesis, Linköpings universitet, Programvara och system, 2016. http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-129419.

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With an increasing need for greater traffic safety, there is an increasing demand for means by which solutions to the traffic safety problem can be studied. The purpose of this thesis is to investigate the feasibility of using an autonomous indoor navigation system as a component in a demonstration system for studying cooperative vehicular scenarios. Our method involves developing and evaluating such a navigation system. Our navigation system uses a pre-existing localization system based on passive RFID, odometry and a particle filter. The localization system is used to estimate the robot pose, which is used to calculate a trajectory to the goal. A control system with a feedback loop is used to control the robot actuators and to drive the robot to the goal. The results of our evaluation tests show that the system generally fulfills the performance requirements stated for the tests. There is however some uncertainty about the consistency of its performance. Results did not indicate that this was caused by the choice of localization techniques. The conclusion is that an autonomous navigation system using the aforementioned localization techniques is plausible for use in a demonstration system. However, we suggest that the system is further tested and evaluated before it is used with applications where accuracy is prioritized.

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Vallivaara, I. (Ilari). "Simultaneous localization and mapping using the indoor magnetic field." Doctoral thesis, Oulun yliopisto, 2018. http://urn.fi/urn:isbn:9789526217741.

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Abstract The Earth’s magnetic field (MF) has been used for navigation for centuries. Man-made metallic structures, such as steel reinforcements in buildings, cause local distortions to the Earth’s magnetic field. Up until the recent decade, these distortions have been mostly considered as a source of error in indoor localization, as they interfere with the compass direction. However, as the distortions are temporally stable and spatially distinctive, they provide a unique magnetic landscape that can be used for constructing a map for indoor localization purposes, as noted by recent research in the field. Most approaches rely on manually collecting the magnetic field map, a process that can be both tedious and error-prone. In this thesis, the map is collected by a robotic platform with minimal sensor equipment. It is shown that a mere magnetometer along with odometric information suffices to construct the map via a simultaneous localization and mapping (SLAM) procedure that builds on the Rao-Blackwellized particle filter as means for recursive Bayesian estimation. Furthermore, the maps are shown to achieve decimeter level localization accuracy that combined with the extremely low-cost hardware requirements makes the presented methods very lucrative for domestic robots. In addition, general auxiliary methods for effective sampling and dealing with uncertainties are presented. Although the methods presented here are devised in mobile robotics context, most of them are also applicable to mobile device-based localization, for example, with little modifications. Magnetic field localization offers a promising alternative to WiFi-based methods for achieving GPS-level localization indoors. This is motivated by the rapidly growing indoor location market
Tiivistelmä Maan magneettikenttään perustuvat kompassit ovat ohjanneet merenkäyntiä vuosisatojen ajan. Rakennusten metallirakenteet aiheuttavat paikallisia häiriöitä tähän magneettikenttään, minkä vuoksi kompasseja on pidetty epäluotettavina sisätiloissa. Vasta viimeisen vuosikymmenen aikana on huomattu, että koska nämä häiriöt ovat ajallisesti pysyviä ja paikallisesti hyvin erottelevia, niistä voidaan muodostaa jokaiselle rakennukselle yksilöllinen häiriöihin perustuva magneettinen kartta, jota voidaan käyttää sisätiloissa paikantamiseen. Suurin osa tämänhetkisistä magneettikarttojen sovelluksista perustuu kartan käsin keräämiseen, mikä on sekä työlästä että tarjoaa mahdollisuuden inhimillisiin virheisiin. Tämä väitöstutkimus tarttuu ongelmaan laittamalla robotin hoitamaan kartoitustyön ja näyttää, että robotti pystyy itsenäisesti keräämään magneettisen kartan hyödyntäen pelkästään magnetometriä ja renkaiden antamia matkalukemia. Ratkaisu perustuu faktoroituun partikkelisuodattimeen (RBPF), joka approksimoi täsmällistä rekursiivista bayesilaista ratkaisua. Robotin keräämien karttojen tarkkuus mahdollistaa paikannuksen n. 10 senttimetrin tarkkuudella. Vähäisten sensori- ja muiden vaatimusten takia menetelmä soveltuu erityisen hyvin koti- ja parvirobotiikkaan, joissa hinta on usein ratkaiseva tekijä. Tutkimuksessa esitellään lisäksi uusia apumenetelmiä tehokkaaseen näytteistykseen ja epävarmuuden hallintaan. Näiden käyttöala ei rajoitu pelkästään magneettipaikannukseen- ja kartoitukseen. Robotiikan sovellusten lisäksi tutkimusta motivoi voimakkaasti kasvava tarve älylaitteissa toimivalle sisätilapaikannukselle. Tämä avaa uusia mahdollisuuksia paikannukselle ympäristöissä, joissa GPS ei perinteisesti toimi

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Miu, Allen Ka Lun 1977. "Design and implementation of an indoor mobile navigation system." Thesis, Massachusetts Institute of Technology, 2002. http://hdl.handle.net/1721.1/16810.

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Thesis (S.M.)--Massachusetts Institute of Technology, Dept. of Electrical Engineering and Computer Science, 2002.
Includes bibliographical references (p. 59-60).
This electronic version was submitted by the student author. The certified thesis is available in the Institute Archives and Special Collections.
This thesis describes the design and implementation of CricketNav, an indoor mobile navigation system using the Cricket indoor location sensing infrastructure developed at the MIT Laboratory for Computer Science as part of Project Oxygen. CricketNav navigates users to the desired destination by displaying a navigation arrow on a map. Both the direction and the position of the navigation arrow are updated in real-time as CricketNav steers the users through a dynamically computed path. To support CricketNav, we developed a modular data processing architecture for the Cricket location system, and an API for accessing location information. We implemented a least-squares position estimation algorithm in Cricket and evaluated its performance. We also developed a rich and compact representation of spatial information, and an automated process to extract this information from architectural CAD floorplans.
by Allen Ka Lun Miu.
S.M.

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Taylor, Trevor. "Mapping of indoor environments by robots using low-cost vision sensors." Queensland University of Technology, 2009. http://eprints.qut.edu.au/26282/.

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For robots to operate in human environments they must be able to make their own maps because it is unrealistic to expect a user to enter a map into the robot’s memory; existing floorplans are often incorrect; and human environments tend to change. Traditionally robots have used sonar, infra-red or laser range finders to perform the mapping task. Digital cameras have become very cheap in recent years and they have opened up new possibilities as a sensor for robot perception. Any robot that must interact with humans can reasonably be expected to have a camera for tasks such as face recognition, so it makes sense to also use the camera for navigation. Cameras have advantages over other sensors such as colour information (not available with any other sensor), better immunity to noise (compared to sonar), and not being restricted to operating in a plane (like laser range finders). However, there are disadvantages too, with the principal one being the effect of perspective. This research investigated ways to use a single colour camera as a range sensor to guide an autonomous robot and allow it to build a map of its environment, a process referred to as Simultaneous Localization and Mapping (SLAM). An experimental system was built using a robot controlled via a wireless network connection. Using the on-board camera as the only sensor, the robot successfully explored and mapped indoor office environments. The quality of the resulting maps is comparable to those that have been reported in the literature for sonar or infra-red sensors. Although the maps are not as accurate as ones created with a laser range finder, the solution using a camera is significantly cheaper and is more appropriate for toys and early domestic robots.

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Ghandchi, Bahram, and Taha Saleh. "Indoor Mobile Positioning system (MPS) classification in different wireless technology domain." Thesis, Blekinge Tekniska Högskola, Institutionen för tillämpad signalbehandling, 2018. http://urn.kb.se/resolve?urn=urn:nbn:se:bth-17377.

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The main purpose of this thesis work is to find and compare different network characteristics of MPS (Mobile Positioning System) in the different wireless technology domains. Since decades ago MNO’s (Mobile Network Operators) added many new services based on the geographical areas of subscribers and their needs. Here we define wireless networks and go through different types of technologies and do the comparison when they collect different types of data for their location-based services and see if we could have the same accuracy with 2G (second generation) of mobile network as like as 3G (third generation) and higher. Finally, we will come up with a proposal for new age technology.

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CANCHUMUNI, SMITH WASHINGTON ARAUCO. "PROBABILISTIC SIMULTANEOUS LOCALIZATION AND MAPPING OF MOBILE ROBOTS IN INDOOR ENVIRONMENTS WITH A LASER RANGE FINDER." PONTIFÍCIA UNIVERSIDADE CATÓLICA DO RIO DE JANEIRO, 2013. http://www.maxwell.vrac.puc-rio.br/Busca_etds.php?strSecao=resultado&nrSeq=23357@1.

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PONTIFÍCIA UNIVERSIDADE CATÓLICA DO RIO DE JANEIRO
COORDENAÇÃO DE APERFEIÇOAMENTO DO PESSOAL DE ENSINO SUPERIOR
PROGRAMA DE EXCELENCIA ACADEMICA
Os Robôs Móveis são cada vez mais inteligentes, para que eles tenham a capacidade de semover livremente no interior deumambiente, evitando obstáculos e sem assistência de um ser humano, precisam possuir um conhecimento prévio do ambiente e de sua localização. Nessa situação, o robô precisa construir um mapa local de seu ambiente durante a execução de sua missão e, simultaneamente, determinar sua localização. Este problema é conhecido como Mapeamento e Localização Simultâneas (SLAM). As soluções típicas para o problema de SLAM utilizam principalmente dois tipos de sensores: (i) odômetros, que fornecem informações de movimento do robô móvel e (ii) sensores de distância, que proporcionam informação da percepção do ambiente. Neste trabalho, apresenta-se uma solução probabilistica para o problema SLAM usando o algoritmo DP-SLAM puramente baseado em medidas de um LRF (Laser Range Finder), com foco em ambientes internos estruturados. Considera-se que o robô móvel está equipado com um único sensor 2DLRF, sem nenhuma informação de odometria, a qual é substituída pela informação obtida da máxima sobreposição de duas leituras consecutivas do sensor LRF, mediante algoritmos de Correspondência de Varreduras (Scan Matching). O algoritmo de Correspondência de Varreduras usado realiza uma Transformada de Distribuições Normais (NDT) para aproximar uma função de sobreposição. Para melhorar o desempenho deste algoritmo e lidar com o LRF de baixo custo, uma reamostragem dos pontos das leituras fornecidas pelo LRF é utilizada, a qual preserva uma maior densidade de pontos da varredura nos locais onde haja características importantes do ambiente. A sobreposição entre duas leituras é otimizada fazendo o uso do algoritmo de Evolução Diferencial (ED). Durante o desenvolvimento deste trabalho, o robô móvel iRobot Create, equipado com o sensor LRF Hokuyo URG-04lx, foi utilizado para coletar dados reais de ambientes internos, e diversos mapas 2D gerados são apresentados como resultados.
The robot to have the ability to move within an environment without the assistance of a human being, it is required to have a knowledge of the environment and its location within it at the same time. In many robotic applications, it is not possible to have an a priori map of the environment. In that situation, the robot needs to build a local map of its environment while executing its mission and, simultaneously, determine its location. A typical solution for the Simultaneous Localization and Mapping (SLAM) problem primarily uses two types of sensors: i) an odometer that provides information of the robot’s movement and ii) a range measurement that provides perception of the environment. In this work, a solution for the SLAM problem is presented using a DP-SLAM algorithm purely based on laser readings, focused on structured indoor environments. It considers that the mobile robot only uses a single 2D Laser Range Finder (LRF), and the odometry sensor is replaced by the information obtained from the overlapping of two consecutive laser scans. The Normal Distributions Transform (NDT) algorithm of the scan matching is used to approximate a function of the map overlapping. To improve the performance of this algorithm and deal with low-quality range data from a compact LRF, a scan point resampling is used to preserve a higher point density of high information features from the scan. An evolution differential algorithm is presented to optimize the overlapping process of two scans. During the development of this work, the mobile robot iRobot Create, assembled with one LRF Hokuyo URG-04LX, is used to collect real data in several indoor environments, generating 2D maps presented as results.

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Jabbar, Maher. "Simple Indoor Environmental Monitoring System for Houseplant using Web and Mobile Applications." Thesis, KTH, Skolan för kemi, bioteknologi och hälsa (CBH), 2020. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-287760.

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In recent times, attention to the indoor plants in the houses has increased, which can be used to produce food or just for decoration and for health purposes. However, moving plants from their original place in nature to a closed place leads to negative effects due to changing environmental parameters around them. For instance, fluctuations in temperature, light, and soil moisture might affect indoor plant growth process. This work investigates the possibility of using the smart mobile and web applications to monitor remotely the most of changing environmental parameters around plants. These parameters can give the user the real-time information on air temperature and humidity, soil temperature and moisture, as well as amount of light. The Top-down method has been used to design a monitoring system to help the user keep informed of indoor climate changes. This system contains Raspberry and some sensors that are used in sensing various environmental conditions. It also includes the software component which defines services and actions to be taken on the data collected by sensing objects. The system is tested and evaluated in the indoor environment to prove the required concepts. The results indicated that web and mobile interfaces transfer data in real-time manner and send environmental information to the user. The data collected is visualized by different charts and figures to give a better understanding of the surrounding conditions in which the plant grows. It is concluded that the proposed system provides a user-friendly monitoring application to monitor the most indoor environmental parameters.

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Chaplin, Bruce Alan. "Motion estimation from stereo image sequences for a mobile mapping system." Thesis, National Library of Canada = Bibliothèque nationale du Canada, 1999. http://www.collectionscanada.ca/obj/s4/f2/dsk1/tape8/PQDD_0020/MQ48058.pdf.

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Tavasci, Luca. "Metodi per l'ottimizzazione di rilievi Mobile Mapping System in aree urbane." Bachelor's thesis, Alma Mater Studiorum - Università di Bologna, 2009. http://amslaurea.unibo.it/335/.

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Mohammed, Abbas Fadhel. "Performance evaluation of a direct sequence CDMA system." Thesis, University of Liverpool, 1992. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.385229.

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Hjelmare, Fredrik, and Jonas Rangsjö. "Simultaneous Localization And Mapping Using a Kinect in a Sparse Feature Indoor Environment." Thesis, Linköpings universitet, Reglerteknik, 2012. http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-81140.

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Localization and mapping are two of the most central tasks when it comes toautonomous robots. It has often been performed using expensive, accurate sensorsbut the fast development of consumer electronics has made similar sensorsavailable at a more affordable price. In this master thesis a TurtleBot\texttrademark\, robot and a MicrosoftKinect\texttrademark\, camera are used to perform Simultaneous Localization AndMapping, SLAM. The thesis presents modifications to an already existing opensource SLAM algorithm. The original algorithm, based on visual odometry, isextended so that it can also make use of measurements from wheel odometry and asingle axis gyro. Measurements are fused using an Extended Kalman Filter,EKF, operating in a multirate fashion. Both the SLAM algorithm and the EKF areimplemented in C++ using the framework Robot Operating System, ROS. The implementation is evaluated on two different data sets. One set isrecorded in an ordinary office room which constitutes an environment with manylandmarks. The other set is recorded in a conference room where one of the wallsis flat and white. This gives a partially sparse featured environment. The result by providing additional sensor information is a more robust algorithm.Periods without credible visual information does not make the algorithm lose itstrack and the algorithm can thus be used in a larger variety of environmentsincluding such where the possibility to extract landmarks is low. The resultalso shows that the visual odometry can cancel out drift introduced bywheel odometry and gyro sensors.

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Soheilian, Khorzoughi Bahman. "Roadmark reconstruction from stereo-images acquired by a ground-based mobile mapping system." Phd thesis, Université Paris-Est, 2008. http://tel.archives-ouvertes.fr/tel-00296601.

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Despite advances in ground-based Mobile Mapping System (MMS), automatic feature reconstruction seems far from being reached. In this thesis, we focus on 3D roadmark reconstruction from images acquired by road looking cameras of a MMS stereo-rig in dense urban context. A new approach is presented, that uses 3D geometric knowledge of roadmarks and provides a centimetric 3D accuracy with a low level of generalisation. Two classes of roadmarks are studied: zebra-crossing and dashed-lines. The general strategy consists in three main steps. The first step provides 3D linked-edges. Edges are extracted in the left and right images. Then a matching algorithm that is based on dynamic programming optimisation matches the edges between the two images. A sub-pixel matching is computed by post processing and 3D linked-edges are provided by classical photogrammetric triangulation. The second step uses the known specification of roadmarks to perform a signature based filtering of 3D linked-edges. This step provides hypothetical candidates for roadmark objects. The last step can be seen as a validation step that rejects or accepts the candidates. The validated candidates are finely reconstructed. The adopted model consists of a quasi parallelogram for each strip of zebra-crossing or dashed-line. Each strip is constrained to be flat but the roadmark as a whole is not planar. The method is evaluated on a set of 150 stereo-pairs acquired in a real urban area under normal traffic conditions. The results show the validity of the approach in terms of robustness, completeness and geometric accuracy. The method is robust and deals properly with partially occluded roadmarks as well as damaged or eroded ones. The detection rate reaches 90% and the 3D accuracy is about 2-4 cm. Finally an application of reconstructed roadmarks is presented. They are used in georeferencing of the system. Most of the MMSs use direct georeferencing devices such as GPS/INS for their localisation. However in urban areas masks and multi-path errors corrupt the measurements and provide only 50 cm accuracy. In order to improve the localisation quality, we aim at matching ground-based images with calibrated aerial images of the same area. For this purpose roadmarks are used as matching objects. The validity of this method is demonstrated on a zebra-crossing example

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Soheilian, Bahman. "Roadmark reconstruction from stereo-images acquired by a ground-based mobile mapping system." Thesis, Paris Est, 2008. http://www.theses.fr/2008PEST0260/document.

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Malgré les récentes avancées des Systèmes de Cartographie Mobile, la reconstruction automatique d’objets à partir des données acquises est encore un point crucial. Dans cette thèse, nous nous intéresserons en particulier à la reconstruction tridimensionnelle du marquage au sol à partir d’images acquises sur le réseau routier par une base stéréoscopique horizontale d’un système de cartographie mobile, dans un contexte urbain dense. Une nouvelle approche s’appuyant sur la connaissance de la géométrie 3D des marquages au sol est présentée, conduisant à une précision de reconstruction 3D centimétrique avec un faible niveau de généralisation. Deux objets de la signalisation routière horizontale sont étudiés : les passages piétons et les lignes blanches discontinues. La stratégie générale est composée de trois grandes étapes. La première d’entre elles permet d’obtenir des chaînes de contours 3D. Les contours sont extraits dans les images gauche et droite. Ensuite, un algorithme reposant sur une optimisation par programmation dynamique est mis en oeuvre pour apparier les points de contours des deux images. Un post-traitement permet un appariement sub-pixellique, et, les chaînes de contours 3D sont finalement obtenues par une triangulation photogrammétrique classique. La seconde étape fait intervenir les spécifications géométriques des marquages au sol pour réaliser un filtrage des chaînes de contours 3D. Elle permet de déterminer des candidats pour les objets du marquage au sol. La dernière étape peut être vue comme une validation permettant de rejeter ou d’accepter ces hypothèses. Les candidats retenus sont alors reconstruits finement. Pour chaque bande d’un passage piéton ou d’une ligne discontinue, le modèle est un quasi-parallélogramme. Une contrainte de planéité est imposée aux sommets de chaque bande, ce qui n’est pas le cas pour l’ensemble des bandes formant un marquage au sol particulier. La méthode est évaluée sur un ensemble de 150 paires d’images acquises en centre ville dans des conditions normales de trafic. Les résultats montrent la validité de notre stratégie en terme de robustesse, de complétude et de précision géométrique. La méthode est robuste et permet de gérer les occultations partielles ainsi que les marquages usés ou abîmés. Le taux de détection atteint 90% et la précision de reconstruction 3D est de l’ordre de 2 à 4 cm. Finalement, une application de la reconstruction des marquages au sol est présentée : le géoréférencement du système d’acquisition. La majorité des systèmes de cartographie mobile utilisent des capteurs de géoréférencement direct comme un couplage GPS/INS pour leur localisation. Cependant, en milieu urbain dense, les masques et les multi-trajets corrompent les mesures et conduisent à une précision d’environ 50 cm. Afin d’améliorer la qualité de localisation, nous cherchons à apparier les images terrestres avec des images aériennes calibrées de la même zone. Les marquages au sol sont alors utilisés comme objets d’appariement. La validité de la méthode est démontrée sur un exemple de passage piéton
Despite advances in ground-based Mobile Mapping System (MMS), automatic feature reconstruction seems far from being reached. In this thesis, we focus on 3D roadmark reconstruction from images acquired by road looking cameras of a MMS stereo-rig in dense urban context. A new approach is presented, that uses 3D geometric knowledge of roadmarks and provides a centimetric 3D accuracy with a low level of generalisation. Two classes of roadmarks are studied: zebra-crossing and dashed-lines. The general strategy consists in three main steps. The first step provides 3D linked-edges. Edges are extracted in the left and right images. Then a matching algorithm that is based on dynamic programming optimisation matches the edges between the two images. A sub-pixel matching is computed by post processing and 3D linked-edges are provided by classical photogrammetric triangulation. The second step uses the known specification of roadmarks to perform a signature based filtering of 3D linked-edges. This step provides hypothetical candidates for roadmark objects. The last step can be seen as a validation step that rejects or accepts the candidates. The validated candidates are finely reconstructed. The adopted model consists of a quasi parallelogram for each strip of zebra-crossing or dashed-line. Each strip is constrained to be flat but the roadmark as a whole is not planar. The method is evaluated on a set of 150 stereo-pairs acquired in a real urban area under normal traffic conditions. The results show the validity of the approach in terms of robustness, completeness and geometric accuracy. The method is robust and deals properly with partially occluded roadmarks as well as damaged or eroded ones. The detection rate reaches 90% and the 3D accuracy is about 2-4 cm. Finally an application of reconstructed roadmarks is presented. They are used in georeferencing of the system. Most of the MMSs use direct georeferencing devices such as GPS/INS for their localisation. However in urban areas masks and multi-path errors corrupt the measurements and provide only 50 cm accuracy. In order to improve the localisation quality, we aim at matching ground-based images with calibrated aerial images of the same area. For this purpose roadmarks are used as matching objects. The validity of this method is demonstrated on a zebra-crossing example

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Barry, Jeremy Jude. "Map Creation and Position Correction for an Off the Shelf Mobile Robotic System." Thesis, Virginia Tech, 2004. http://hdl.handle.net/10919/33063.

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Robots are widely used in domestic and commercial applications. These applications typically involve robots built for a specific the task, thus leading to efficiency in task completion. However, with the increase in completion efficiency comes an increase in the time required for completion of the whole system. Specific tasks create the need for many different robots, all with differing capabilities, causing an increase in development cost and time needed.

This raises the issue of whether using an off the shelf system with minor modifications can accurately perform the same tasks. If so, more time can be spent on refining the process leading to completion of the task, resulting in less time spent developing the robot. Consequently, less cost in the life cycle of the system leads to less cost for the end user, thus allowing robots to be used for more applications.

This thesis explores using a commercially available robot, Acroname Inc.â s Garcia, to perform mapping and localization tasks. As the robot travels it gathers data about the environment. This data is processed in Matlab and the result of the algorithm is a map. In the creation of the map, mathematical morphology is explored as a means to reduce noise. When the robot has located a corner, Matlab provides the robot with a position estimate correction. This correction allows the robot to better estimate its location resulting in a more accurate map. As the results of this thesis illustrate, with very minor modifications, the robot is capable of accurately performing mapping and localization tasks. The results demonstrate that an off the shelf system is capable of accurately performing tasks for which it was not specifically designed.
Master of Science

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Al, Shaiba Omar. "Update urban basemap by using the LiDAR mobile mapping system : the case of Abu Dhabi municipal system." Doctoral thesis, Universitat Politècnica de Catalunya, 2020. http://hdl.handle.net/10803/669771.

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Basemaps are the main resource used in urban planning and in building and infrastructure asset management. These maps are used by citizens and by private and public stakeholders. Therefore, accurate, up-to-date geoinformation of reference are needed to provide a good service. In general, basemaps have been updated by aerial photogrammetry or field surveying, but these methods are not always possible and alternatives need to be sought. Current limitations and challenges that face traditional field surveys include areas with extreme weather, deserts or artic environments, and flight restrictions due to proximity with other countries if there is not an agreement. In such cases, alternatives for large-scale are required. This thesis proposes the use of a mobile mapping system (MMS) to update urban basemaps. Most urban features can be extracted from point cloud using commercial software or open libraries. However, there are some exceptions: manhole covers, or hidden elements even with captures from defferent perspective, the most common building corners. Therefore, the main objective of this study was to establish a methodology for extracting manholes automatically and for completing hidden corners of buildings, so that urban basemaps can be updated. The algorithm developed to extract manholes is based on time, intensity and shape detection parameters, whereas additional information from satellite images is used to complete buildings. Each municipality knows the materials and dimensions of its manholes. Taking advantage of this knowledge, the point cloud is filtered to classify points according to the set of intensity values associated with the manhole material. From the classified points, the minimum bounding rectangles (MBR) are obtained and finally the shape is adjusted and drawn. We use satellite imagery to automatically digitize the layout of building footprints with automated software tools. Then, the visible corners of buildings from the LiDAR point cloud are imported and a fitting process is performed by comparing them with the corners of the building from the satellite image. Two methods are evaluated to establish which is the most suitable for adjustment in these conditions. In the first method, the differences in X and Y directions are measured in the corners, where LiDAR and satellite data are available, and is often computed as the average of the offsets. In the second method, a Helmert 2D transformation is applied. MMS involves Global Navigation Satellite Systems (GNSS) and Inertial Measurement Units (IMU) to georeference point clouds. Their accuracy depends on the acquisition environment. In this study, the influence of the urban pattern is analysed in three zones with varied urban characteristics: different height buildings, open areas, and areas with a low and high level of urbanization. To evaluate the efficiency of the proposed algorithms, three areas were chosen with varying urban patterns in Abu Dhabi. In these areas, 3D urban elements (light poles, street signs, etc) were automatically extracted using commercial software. The proposed algorithms were applied to the manholes and buildings. The completeness and correctness ratio, and geometric accuracy were calculated for all urban elements in the three areas. The best success rates (>70%) were for light poles, street signs and road curbs, regardless of the height of the buildings. The worst rate was obtained for the same features in peri-urban areas, due to high vegetation. In contrast, the best results for trees were found in theses areas. Our methodology demonstrates the great potential and efficiency of mobile LiDAR technology in updating basemaps; a process that is required to achieve standard accuracy in large scale maps. The cost of the entire process and the time required for the proposed methodology was calculated and compared with the traditional method. It was found that mobile LiDAR could be a standard cost-efficient procedure for updating maps.
La cartografía de referencia es la principal herramienta en planificación urbanística, y gestión de infraestructuras y edificios, al servicio de ciudadanos, empresas y administración. Por esta razón, debe estar actualizada y ser lo más precisa posible. Tradicionalmente, la cartografía se actualiza mediante fotogrametría aérea o levantamientos terrestres. No obstante, deben buscarse alternativas válidas para escalas grandes, porque no siempre es posible emplear estas técnicas debido a las limitaciones y retos actuales a los que se enfrenta la medición tradicional en algunas zonas del planeta, con meteorología extrema o restricciones de vuelo por la proximidad a la frontera con otros países. Esta tesis propone el uso del sistema Mobile Mapping System (MMS) para actualizar la cartografía urbana de referencia. La mayoría de los elementos pueden extraerse empleando software comercial o librerías abiertas, excepto los registros de servicios. Los elementos ocultos son otro de los inconvenientes encontrados en el proceso de creación o actualización de la cartografía, incluso si se dispone de capturas desde diferentes puntos de vista. El caso más común es el de las esquinas de edificios. Por ello, el principal objetivo de este estudio es establecer una metodología de extracción automática de los registros y completar las esquinas ocultas de los edificios para actualizar cartografía urbana. El algoritmo desarrollado para la detección y extracción de registros se basa en parámetros como el tiempo, la intensidad de la señal laser y la forma de los registros, mientras que para completar los edificios se emplea información adicional de imágenes satélite. Aprovechando el conocimiento del material y dimensión de los registros, en disposición de los gestores municipales, el algoritmo propuesto filtra y clasifica los puntos de acuerdo a los valores de intensidad. De aquellos clasificados como registros se calcula el mínimo rectángulo que los contiene (Minimum Bounding Rectangle) y finalmente se ajusta la forma y se dibuja. Las imágenes de satélite son empleadas para obtener automáticamente la huella de los edificios. Posteriormente, se importan las esquinas visibles de los edificios obtenidas desde la nube de puntos y se realiza el ajuste comparándolas con las obtenidas desde satélite. Para llevar a cabo este ajuste se han evaluado dos métodos, el primero de ellos considera las diferencias entre las coordenadas XY, desplazándose el promedio. En el segundo, se aplica una transformación Helmert2D. MMS emplea sistemas de navegación global por satélite (Global Navigation Satellite Systems, GNSS) e inerciales (Inertial Measurement Unit, IMU) para georreferenciar la nube de puntos. La precisión de estos sistemas de posicionamiento depende del entorno de adquisición. Por ello, en este estudio se han seleccionado tres áreas con distintas características urbanas (altura de edificios, nivel de urbanización y áreas abiertas) de Abu Dhabi con el fin de analizar su influencia, tanto en la captura, como en la extracción de los elementos. En el caso de farolas, señales viales, árboles y aceras se ha realizado con software comercial, y para registros y edificios con los algoritmos propuestos. Las ratios de corrección y completitud, y la precisión geométrica se han calculado en las diferentes áreas urbanas. Los mejores resultados se han conseguido para las farolas, señales y bordillos, independientemente de la altura de los edificios. La peor ratio se obtuvo para los mismos elementos en áreas peri-urbanas, debido a la vegetación. Resultados opuestos se han conseguido en la detección de árboles. El coste económico y en tiempo de la metodología propuesta resulta inferior al de métodos tradicionales. Lo cual demuestra el gran potencial y eficiencia de la tecnología LiDAR móvil para la actualización cartografía de referencia

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Marastoni, Diego. "Metodi matematici e statistici finalizzati al rilievo di precisione mediante SISTEMI MOBILE MAPPING SYSTEM." Bachelor's thesis, Alma Mater Studiorum - Università di Bologna, 2009. http://amslaurea.unibo.it/333/.

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Reichenbacher, Tumasch. "Mobile cartography : adaptive visualisation of geographic information on mobile devices /." München : Verlag Dr. Hut, 2004. http://purl.fcla.edu/UF/lib/MobileCartography.pdf.

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Nováčková, Soňa. "Testování přesnosti mobilního mapovacího systému MOMAS." Master's thesis, Vysoké učení technické v Brně. Fakulta stavební, 2012. http://www.nusl.cz/ntk/nusl-225361.

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The aim of this thesis is to introduce the mobile mapping system MOMAS, which is owned by Geodis Brno, spol. s.r.o. and test the accuracy of the system. Perform data collection and processing of data in the workplace company Geodis. In addition, identical target points, determine their coordinates and compare them with the coordinates obtained MOMAS system. And finally processed statistically derived coordinate differences.

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Lind, Andreas. "An experimental investigation of a crossover concept for high accuracy indoor positioning systems." Thesis, Tekniska Högskolan, Högskolan i Jönköping, JTH. Forskningsmiljö Informationsteknik, 2015. http://urn.kb.se/resolve?urn=urn:nbn:se:hj:diva-27368.

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To know your whereabouts is important and sometimes exact position is the determinant of success or not. Since the launch of the USA made Global Positioning System (GPS) in the late 1970s, global tracking has been available both for military and civilian use. Today, satellite based systems like the American GPS, European Galileo and the Russian GLONASS are the standard for basically any navigation or location application. However these systems are limited by the fact that they must have connection with multiple satellites in order to work. This means that satellite dependent systems are very limited in indoor environments. Despite this, there is no standard for indoor positioning systems (IPSs) even close to the satellite dependent systems when it regards distribution and accessibility for use where satellite dependent systems are limited or not working. However, this new age of connectivity provides a number of options for positioning indoors. There are some systems available, but very few of them provide good enough accuracy. This Master thesis evaluates different options for indoor positioning using technologies that are available in smart devices and smart phones, such as Wi-Fi and Bluetooth, and focuses on indoor positioning systems that can provide high accuracy. The current state of the technologies and the possible future for them, considering rising need and interest in indoor positioning systems are covered in this thesis. A selection of technologies and approaches are explored, tested in conditions designed for this purpose and evaluated to highlight their differences in approach, accuracy and usability. In order to achieve the goals of this thesis, a hybrid method of experimental research design and system development is selected as the main research method. The hybrid method is focused on experimental research, and is used to investigate if the accuracy of the positioning data can be affected and improved by tuning independent variables in an IPS. To be able to do this, an application for smart devices, such as android smartphones, is developed. The application developed is the heart of the conceptual crossover IPS (CCIPS), which is named Locantis, that is being developed and used in the experimental stages of this investigation. It is also used to test the hypothesis that a CCIPS could be a valid contender for replacing the established IPSs. The observations show how the accuracy and precision of the location data is affected by change to independent variables in an IPS and how well a CCIPS can meet real time requirement’s. The main conclusion is that changes to independent variables have greater impact on the precision than the accuracy for location data in an IPS and that a CCIPS in many cases are the sensible choice of IPS.
Att veta var du befinner dig är viktigt och ibland är exakt position avgörande för framgång. Sedan lanseringen av amerikanska Global Positioning System (GPS) i slutet av 1970 har global navigation varit tillgängliga för både militärt och civilt bruk. Idag är satellitbaserade system, som det amerikanska GPS, europeiska Galileo och det ryska GLONASS, standard för i princip alla navigering eller platsinformation. Men dessa system är begränsade av det faktum att de måste ha kontakt med flera satelliter för att fungera. Detta innebär att satellitberoende system är mycket begränsad i inomhusmiljöer. Trots detta finns det ingen standard för inomhus positioneringssystem (IPSS) som kan mäta sig med de satellitberoende systemen när det gäller distribution och tillgänglighet. Men denna nya generationens kommunikation ger ett antal alternativ för positionering inomhus. Det finns IPS tillgängliga idag, men väldigt få av dem kan tillhandahålla en hög noggrannhet på positioneringen. Detta examensarbete utvärderar olika alternativ för inomhuspositionering med teknologier som är tillgängliga i smarta enheter och smarta telefoner, som Wi-Fi och Bluetooth, fokus ligger på inomhus positioneringssystem som kan ge hög noggrannhet. Det aktuella läget för dessa teknologier och dess möjliga framtid, med tanke på stigande behov och intresse av inomhus positioneringssystem, behandlas i detta examensarbete. Ett urval av teknologier och metoder utforskas, testas under förhållanden utformade för detta ändamål, och utvärderas för att lyfta fram sina skillnader i tillvägagångssätt, noggrannhet och användbarhet. För att uppnå målen i detta examensarbete har en hybrid metod för experimentell designforskning och systemutveckling valts som huvudsaklig forskningsmetod. Hybridmetoden fokuserar på experimentell forskning och används för att undersöka om positioneringsdatas noggrannhet kan påverkas och förbättras genom att förändra oberoende variabler i ett IPS. För att kunna göra detta har en applikation för smarta enheter, så som Android, utvecklats. Applikationen som utvecklats är hjärtat i det konceptuella kombinations inomhuspositioneringssystem Locantis som utvecklas och används i det experimentella stadiet i denna undersökning. Den används också för att testa hypotesen att en CCIPS kunde vara en giltig kandidat för att ersätta den etablerade IPSer. Observationerna visa hur noggrannhet och precision av positioneringsdata påverkas av förändring på oberoende variabler i ett IPS och hur väl ett CCIPS kan uppfylla realtidskravet talet. Huvudslutsatsen är att förändringar på oberoende variabler har större inverkan på precision än noggrannheten för lokaliseringsuppgifter i en IPS och att ett CCIPS i många fall är det klokt val av IPS.

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Duque, Fredd. "Six DOF tracking system based on smartphones internal sensors for standalone mobile VR." Thesis, KTH, Skolan för elektroteknik och datavetenskap (EECS), 2019. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-260345.

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Nowadays mid-range smartphones have enough computational power to run simultaneous location and mapping (SLAM) algorithms that, together with their onboard inertial sensors makes them capable of position and rotation tracking. Based on this, Google and Apple have released their own respective software development kits (SDKs) that allow smartphones to run augmented reality applications using six degrees of freedom tracking. However, this same approach could be implemented to virtual reality head-mounted-display (HMD) based on smartphones, but current virtual reality SDKs only offer rotational tracking. In this study the positional tracking technology used for augmented reality mobile applications has been implemented in a virtual reality head-mounted-display only powered by a smartphone by combining virtual and augmented reality SDKs. Compatibility issues between SDKs have been faced to develop a working prototype. An objective and controlled measurement study has been conducted that included 34.200 measurements, to test the accuracy, precision and jitter tracking of the protype against the Oculus Rift, a dedicated virtual reality system. Results show that the developed prototype offers a decent tracking precision and accuracy in optimal conditions. It was concluded to be highly dependent on the camera view. Although, jitter presented the opposite behavior, being dependent to the device used but independent on the camera view. In its optimal conditions, user studies demonstrated that the prototype was capable of offering the same tracking performance feeling as the Oculus Rift although jitter was quite noticeable, and a common user complain. Further studies are proposed that can improve the tracking performance of the prototype by filtering jitter and using two or more cameras with a different angular to correlate feature points and obtain a wider view of the environment were the prototype is used.
Idag har mellanklass-smartphones tillräckligt med beräkningskapacitet för att simultant köra lokalisering och kartläggnings(SLAM) algoritmer tillsammans med deras tröghetssensorer ombord, vilket gör att de kan positionera och rotera spårning. Baserat på det här så har Google och Apple släppt sina egna respektive programvaror (SDK) som gör att smartphones kan köra ökade realitetsapplikationer med sex graders frihetsspårning. Emellertid kan samma tillvägagångssätt implementeras till virtuell verklighet på en huvudmonterad display (HMD) baserat på smartphones, men nuvarande VR SDK erbjuder endast rotationsspårning. I denna studie så har positionell spårningsteknik som används för AR i mobila applikationer implementerats i ett VRheadset som endast drivs av en smartphone genom att kombinera VR och ARSDKs. Kompatibilitetsproblem mellan SDKs har resulterat i att utveckla en fungerande prototyp. En objektiv och kontrollerad mätstudie har genomförts som inkluderade 34.200 mätningar, för att testa noggrannheten, precision och jitterspårning av protyp mot Oculus Rift, ett dedikerat virtuellt verklighetssystem. Resultat visar att den utvecklade prototypen ger en anständig spårningsprecision och noggrannhet i optimala betingelser. Denna slutsats var mycket beroende av kameravy. Även om jitter presenterade det motsatta beteendet, beroende på vilken enhet som används men oberoende av kamerans vy. I sina optimala förhållanden visade användarstudier att prototypen kunde erbjuda samma spårningsförmåga som Oculus Rift, även om jitter var ganska märkbar, och en vanlig användares klagomål. Ytterligare studier föreslås som kan förbättra prototypens spårningsprestanda genom att filtrera jitter och använder två eller flera kameror med en annan vinkling till att korrelera funktionspunkter och få en bredare bild av miljön var prototypen används.

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Sakpere, Wilson Evuarherhe. "A near field communication framework for indoor navigation : design and deployment considerations." Thesis, Cape Peninsula University of Technology, 2015. http://hdl.handle.net/20.500.11838/2290.

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Thesis (MTech (Information Technology))--Cape Peninsula University of Technology, 2015.
Navigation systems are known to provide time and location information for easy and accurate navigation in a specified environment. While Global Positioning System (GPS) has recorded a considerable success for navigating outdoors, the absence of GPS indoors has made orientation in an indoor environment challenging. Furthermore, existing technologies and methods of indoor positioning and navigation, such as WLAN, Bluetooth and Infrared, have been complex, inaccurate, expensive and challenging to implement; thereby limiting the usability of these technologies in less developed countries. This limitation of navigation services makes it difficult and time consuming to locate a destination in indoor and closed spaces. Hence, recent works with Near Field Communication (NFC) has kindled interest in positioning and navigation. While navigating, users in less developed nations face several challenges, such as infrastructure complexity, high-cost solution, inaccuracy and usability. However, this research focuses on providing interventions to alleviate usability challenges, in order to strengthen the overall accuracy and the navigation effectiveness in stringent environments through the experiential manipulation of technical attributes of the positioning and navigation system in indoor environments. Therefore, this study adopted the realist ontology and the positivist epistemological approach. It followed a quantitative and experimental method of empirical enquiry, and software engineering and synthesis research methods. The study entails three implementation processes, namely map generation, positioning framework and navigation service using a prototype mobile navigation application that uses the NFC technology. It used open-source software and hardware engineering tools, instruments and technologies, such as Ubuntu Linux, Android Software Development Kit, Arduino, NFC APIs and PandaBoard. The data was collected and the findings evaluated in three stages: pre-test, experiment and post-test.

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Capucci, Laura. "Analisi di rilievi con mobile mapping system per lo sviluppo di un sistema informatizzato di gestione integrata delle pavimentazioni stradali." Master's thesis, Alma Mater Studiorum - Università di Bologna, 2011. http://amslaurea.unibo.it/2038/.

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Li, Qiucheng [Verfasser], Thomas [Akademischer Betreuer] Rauschenbach, Pu [Gutachter] Li, and Rolf [Gutachter] Findeisen. "Development of an adaptive navigation system for indoor mobile handling and manipulation platforms / Qiucheng Li ; Gutachter: Pu Li, Rolf Findeisen ; Betreuer: Thomas Rauschenbach." Ilmenau : TU Ilmenau, 2019. http://d-nb.info/1194173160/34.

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Frese, Udo. "An O(log n) algorithm for simultaneous localization and mapping of mobile robots in indoor environments Ein O(log n)-Algorithmus für gleichzeitige Lokalisierung und Kartierung mobiler Roboter in Innenräumen /." [S.l. : s.n.], 2004. http://deposit.ddb.de/cgi-bin/dokserv?idn=972029516.

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Tsai, Tsung-Chun. "Map compression for a RFID-based two-dimensional indoor navigation system a dissertation submitted to Auckland University of Technology in partial fulfilment of the requirements for the degree of Master of Computer and Information Science (MCIS), 2008." Click here to access this resource online, 2008. http://hdl.handle.net/10292/652.

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Thesis (MCIS - Computer and Information Sciences) -- AUT University, 2008.
Includes bibliographical references. Also held in print (ix, 98, xxvi leaves : ill. ; 30 cm. + 1 cd-rom) in the Archive at the City Campus (T 526 TSA)

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Selin, Magnus. "Efficient Autonomous Exploration Planning of Large-Scale 3D-Environments : A tool for autonomous 3D exploration indoor." Thesis, Linköpings universitet, Artificiell intelligens och integrerade datorsystem, 2019. http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-163329.

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Exploration is of interest for autonomous mapping and rescue applications using unmanned vehicles. The objective is to, without any prior information, explore all initially unmapped space. We present a system that can perform fast and efficient exploration of large scale arbitrary 3D environments. We combine frontier exploration planning (FEP) as a global planning strategy, together with receding horizon planning (RH-NBVP) for local planning. This leads to plans that incorporate information gain along the way, but do not get stuck in already explored regions. Furthermore, we make the potential information gain estimation more efficient, through sparse ray-tracing, and caching of already estimated gains. The worked carried out in this thesis has been published as a paper in Robotand Automation letters and presented at the International Conference on Robotics and Automation in Montreal 2019.

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Venený, Petr. "Detekce prostorových objektů v mračně bodů." Master's thesis, Vysoké učení technické v Brně. Fakulta stavební, 2019. http://www.nusl.cz/ntk/nusl-400180.

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The diploma thesis deals with processing of a point cloud that was collected via mobile mapping system. The first part sets a theoretical background, starting with mapping in general moving to mobile mapping systems and their particular parts. The practical part describes the whole process of data collecting, testing the automatic detection of spatial objects based on a point cloud and its visualisation. The results of the diploma thesis are GIS data layers and an evaluation of the process.

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Michaelsson, Ludvig, and Sebastian Quiroga. "Design and evaluation of an adaptive dairy cow indoor positioning system : A study of the trade-off between position accuracy and energy consumption in mobile units with extreme battery life." Thesis, KTH, Maskinkonstruktion (Inst.), 2016. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-190203.

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With growing farm sizes, increasing work load, and increasing social and legislative demands for loose housing, health monitoring of farm animals is playing a bigger role for farmers worldwide. A type of information that can be used to determine the health status of dairy cows is positional data. However, since dairy cows spend a lot of time indoors in protection from various weather conditions or to perform other activities, GPS solutions are not sufficient. Moreover, the devices that the dairy cows carry must have a long battery life in order to avoid frequent system maintenance. This thesis researches possible system solutions to enable indoor positioning of dairycows within loose housed freestall barns. The proposed system configuration is then optimized in terms of energy consumption, and the trade-off between dynamic energy consumption and position accuracy is investigated. Previous research has focused on one or the other, and the development of systems with extreme battery life has not been a priority. The proposed system uses a proprietary 433MHz radio frequency band to estimate the dairy cows’ positions, and accelerometer data to adaptively alter estimation frequency to minimize energy consumption. After the optimization process, the proposed system is shown to have a battery life of at least two years with an accuracy of approximately 7–8m and a precision of 11–12 mutilizing four anchor nodes in an experimental barn. The theorized correlation of the position accuracy and energy consumption could not be found. Keywords: indoor positioning, dairy cows, weighted non-linear least squares, energyconsumption, agriculture, system design, optimization, positioning accuracy, Sub GHzradio, battery life
Med växande gårdsstorlekar, ökande arbetsbelastning, påtryckningar från samhället och lagstiftning för lösdrift, gör att hälsoövervakning av gårdsdjur spelar en större roll för jordbrukare världen över. En typ av information som kan användas för att bestämma mjölkkors hälsa är positioneringsdata. Eftersom mjölkkor spenderar mycket tid inomhus för att skyddas mot väder, eller för att utföra andra aktiviteter, så lämpar sig inte lösningar baserade på GPS. Utöver det så krävs det att enheterna som korna bär med sig har en lång batteritid för att undvika frekventa systemunderhåll. Den här masteruppsatsen undersöker potentiella systemlösningar för att möjliggöra inomhuspositionering av mjölkkor i lösdriftsladugårdar. Den valda konfigurationen är sedan optimerad med avseende på energikonsumtion. Därefter undersöks förhållandet mellan dynamisk energikonsumtion och lokaliseringsnoggrannhet, tidigare forskning har fokuserat på antingen eller. Utvecklingen av system med lång livslängd har inte heller varit en prioritet. Det föreslagna systemet använder sig utav proprietära radiotekniker på 433MHz-bandet för att skatta mjölkkornas position. Dessutom används accelerometerdata till att adaptivt justera skattningsfrekvensen för att minimera energikonsumtion. Efter optimeringsprocessen har det föreslagna systemet en batteritid på minst två år, med en noggrannhet på ungefär 7–8m och en precision på 11–12m, när endast fyra ankarnoder användes i en experimentladugård. Den teoretiserade korrelationen mellan lokaliseringsnoggrannhet och energikonsumtion kunde ej påvisas. Nyckelord: inomhuspositionering, mjölkkor, viktad icke-linjär minstakvadratmetod,energikonsumtion, jordbruk, systemdesign, optimering, lokaliseringsnoggrannhet, SubGHz radio, batteritid

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Hunter, Brandon. "Channel Probing for an Indoor Wireless Communications Channel." BYU ScholarsArchive, 2003. https://scholarsarchive.byu.edu/etd/64.

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The statistics of the amplitude, time and angle of arrival of multipaths in an indoor environment are all necessary components of multipath models used to simulate the performance of spatial diversity in receive antenna configurations. The model presented by Saleh and Valenzuela, was added to by Spencer et. al., and included all three of these parameters for a 7 GHz channel. A system was built to measure these multipath parameters at 2.4 GHz for multiple locations in an indoor environment. Another system was built to measure the angle of transmission for a 6 GHz channel. The addition of this parameter allows spatial diversity at the transmitter along with the receiver to be simulated. The process of going from raw measurement data to discrete arrivals and then to clustered arrivals is analyzed. Many possible errors associated with discrete arrival processing are discussed along with possible solutions. Four clustering methods are compared and their relative strengths and weaknesses are pointed out. The effects that errors in the clustering process have on parameter estimation and model performance are also simulated.

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Huang, Henry. "Bearing-only SLAM : a vision-based navigation system for autonomous robots." Queensland University of Technology, 2008. http://eprints.qut.edu.au/28599/.

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To navigate successfully in a previously unexplored environment, a mobile robot must be able to estimate the spatial relationships of the objects of interest accurately. A Simultaneous Localization and Mapping (SLAM) sys- tem employs its sensors to build incrementally a map of its surroundings and to localize itself in the map simultaneously. The aim of this research project is to develop a SLAM system suitable for self propelled household lawnmowers. The proposed bearing-only SLAM system requires only an omnidirec- tional camera and some inexpensive landmarks. The main advantage of an omnidirectional camera is the panoramic view of all the landmarks in the scene. Placing landmarks in a lawn field to define the working domain is much easier and more flexible than installing the perimeter wire required by existing autonomous lawnmowers. The common approach of existing bearing-only SLAM methods relies on a motion model for predicting the robot’s pose and a sensor model for updating the pose. In the motion model, the error on the estimates of object positions is cumulated due mainly to the wheel slippage. Quantifying accu- rately the uncertainty of object positions is a fundamental requirement. In bearing-only SLAM, the Probability Density Function (PDF) of landmark position should be uniform along the observed bearing. Existing methods that approximate the PDF with a Gaussian estimation do not satisfy this uniformity requirement. This thesis introduces both geometric and proba- bilistic methods to address the above problems. The main novel contribu- tions of this thesis are: 1. A bearing-only SLAM method not requiring odometry. The proposed method relies solely on the sensor model (landmark bearings only) without relying on the motion model (odometry). The uncertainty of the estimated landmark positions depends on the vision error only, instead of the combination of both odometry and vision errors. 2. The transformation of the spatial uncertainty of objects. This thesis introduces a novel method for translating the spatial un- certainty of objects estimated from a moving frame attached to the robot into the global frame attached to the static landmarks in the environment. 3. The characterization of an improved PDF for representing landmark position in bearing-only SLAM. The proposed PDF is expressed in polar coordinates, and the marginal probability on range is constrained to be uniform. Compared to the PDF estimated from a mixture of Gaussians, the PDF developed here has far fewer parameters and can be easily adopted in a probabilistic framework, such as a particle filtering system. The main advantages of our proposed bearing-only SLAM system are its lower production cost and flexibility of use. The proposed system can be adopted in other domestic robots as well, such as vacuum cleaners or robotic toys when terrain is essentially 2D.

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Manda, David. "Mobilní mapování." Master's thesis, Vysoké učení technické v Brně. Fakulta stavební, 2013. http://www.nusl.cz/ntk/nusl-226350.

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The aim of this thesis is introduce the mobile mapping system IP-S2, which is using by company GEODIS BRNO, and perform data collection by this system. Measure the identical points, determine their coordinates and compare with coordinates obtained by mobile mapping system. The conclusion of this thesis is focused on testing the accuracy of the mobile mapping system.

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Poreba, Martyna. "Qualification et amélioration de la précision de systèmes de balayage laser mobiles par extraction d’arêtes." Thesis, Paris, ENMP, 2014. http://www.theses.fr/2014ENMP0012/document.

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Au cours de ces dernières décennies, le développement de Systèmes Mobiles de Cartographie, soutenu par un progrès technologique important, est devenu plus apparent. Il a été stimulé par le besoin grandissant de collecte d'informations géographiques précises sur l'environnement. Nous considérons, au sein de cette thèse, des solutions pour l'acquisition des nuages de points mobiles de qualité topographique (précision centimétrique). Il s'agit, dans cette tâche, de mettre au point des méthodes de qualification des données, et d'en améliorer sur les erreurs systématiques par des techniques d'étalonnage et de recalage adéquates.Nous décrivons une démarche innovante d'évaluation de l'exactitude et/ou de la précision des relevés laser mobiles. Celle-ci repose sur l'extraction et la comparaison des entités linéaires de la scène urbaine. La distance moyenne calculée entre les segments appariés, étant la distance modifiée de Hausdorff, sert à noter les nuages par rapport à des références existantes. Pour l'extraction des arêtes, nous proposons une méthode de détection d'intersections entre segments plans retrouvés via un algorithme de RANSAC enrichi d'une analyse de composantes connexes. Nous envisageons également une démarche de correction de relevés laser mobiles à travers un recalage rigide fondé, lui aussi, sur les éléments linéaires. Enfin, nous étudions la pertinence des segments pour en déduire les paramètres de l'étalonnage extrinsèque du système mobile. Nous testons nos méthodes sur des données simulées et des données réelles acquises dans le cadre du projet TerraMobilita
Over the past few decades, the development of land-based Mobile Mapping Systems (MMS), supported by significant technological progress, has become more prominent. It has been motivated by the growing need for precise geographic information about the environment. In this thesis, we consider approaches for the acquisition of mobile point clouds with topographic quality (centimeter-level accuracy). The aim is to develop techniques for data quality assessment and improvement. In particular, we eliminate the systematic errors inherent to an MMS data using appropriate calibration and registration methods.We describe a novel approach to assess the accuracy and/or the precision of mobile laser point clouds. It is based on the extraction and comparison of line features detected within the urban scene. The computed average distance between corresponding pairs of line segments, taking advantage of a modified Hausdorff distance, is used to evaluate the MMS data with respect to a reference data set. For edge extraction, we propose a method which relies on the intersections between planes modelled via the RANSAC algorithm refined by an analysis of connected components. We also consider an approach to correct point clouds using a line-based rigid registration method. Finally, we study the use of line segments for estimating the boresight angles of a land-based mobile mapping system. We apply our methods to synthetic data and to real data acquired as part of the TerraMobilita project

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Hoffmannová, Lada. "Testování přesnosti mobilního laserového skenování." Master's thesis, Vysoké učení technické v Brně. Fakulta stavební, 2020. http://www.nusl.cz/ntk/nusl-414306.

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Diploma thesis describes collecting of data by mobile mapping system Riegl VMX-450. Science centre AdMas was captured with mobile mapping system. For the purpose of testing the accuracy, a calibration field was constructed in AdMaS. Main part of the thesis deals with testing of the accuracy of point cloud. Calibration field's coordinates were obtained by adjustment of the geodetic network using the least squares adjustment. During the testing, the coordinates of the calibration field points determined by the adjustment of the geodetic network and the coordinates of the points determined from the point cloud were compared. Another part of the work deals with testing of the accuracy, when target's position is in different height levels.

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Biasutti, Pierre. "2D Image Processing Applied to 3D LiDAR Point Clouds." Thesis, Bordeaux, 2019. http://www.theses.fr/2019BORD0161/document.

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L'intérêt toujours grandissant pour les données cartographiques fiables, notamment en milieu urbain, a motivé le développement de systèmes de cartographie mobiles terrestres. Ces systèmes sont conçus pour l'acquisition de données de très haute précision, telles que des nuages de points LiDAR 3D et des images optiques. La multitude de données, ainsi que leur diversité, rendent complexe le traitement des données issues de ce type de systèmes. Cette thèse se place dans le contexte du traitement de l'image appliqué au nuages de points LiDAR 3D issus de ce type de système.Premièrement, nous nous intéressons à des images issues de la projection de nuages de points LiDAR dans des grilles de pixels 2D régulières. Ces projections créent généralement des images éparses, dans lesquelles l'information de certains pixels n'est pas connue. Nous proposons alors différentes méthodes pour des applications telles que la génération d'orthoimages haute résolution, l'imagerie RGB-D et l'estimation de la visibilité des points d'un nuage.De plus, nous proposons d'exploiter la topologie d'acquisition des capteurs LiDAR pour produire des images de faible résolution: les range-images. Ces images offrent une représentation efficace et canonique du nuage de points, tout en étant directement accessibles à partir du nuage de points. Nous montrons comment ces images peuvent être utilisées pour simplifier, voire améliorer, des méthodes pour le recalage multi-modal, la segmentation, la désoccultation et la détection 3D
The ever growing demand for reliable mapping data, especially in urban environments, has motivated the development of "close-range" Mobile Mapping Systems (MMS). These systems acquire high precision data, and in particular 3D LiDAR point clouds and optical images. The large amount of data, along with their diversity, make MMS data processing a very complex task. This thesis lies in the context of 2D image processing applied to 3D LiDAR point clouds acquired with MMS.First, we focus on the projection of the LiDAR point clouds onto 2D pixel grids to create images. Such projections are often sparse because some pixels do not carry any information. We use these projections for different applications such as high resolution orthoimage generation, RGB-D imaging and visibility estimation in point clouds.Moreover, we exploit the topology of LiDAR sensors in order to create low resolution images, named range-images. These images offer an efficient and canonical representation of the point cloud, while being directly accessible from the point cloud. We show how range-images can be used to simplify, and sometimes outperform, methods for multi-modal registration, segmentation, desocclusion and 3D detection

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YE, LIANG-HONG, and 葉亮宏. "Mobile Indoor Healthcare Service System." Thesis, 2016. http://ndltd.ncl.edu.tw/handle/nzg678.

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碩士
崑山科技大學
電腦與通訊研究所
104
Along with the development of mobile communication and smart handheld devices, wearable devices are honored as the important technology for next generation. The emergence of the concept of M-Health has changed people’s idea towards healthy life; to enable people to quickly know their health condition and avoid accidental injuries caused by bad physical condition, this study bases on indoor positioning combining with wearable devices to develop a mobile health promotion system; this study develops an integrated health promotion system which enables users to obtain real-time health information; when emergent accidents occur, this system enable users to know their current location and provide location-based services such as indoor positioning and route guidance; in addition, this system enables surrounding service user’s to monitor the user’s health condition and exercise habit, providing health inquiry service. Meanwhile, it enables users to wear in everyday living and measure all physiological parameters, assisting users to know their personal physical condition and promoting physical health.

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Chyi-GangKuo and 郭其綱. "An Indoor Mobile Augmented Reality Positioning System." Thesis, 2012. http://ndltd.ncl.edu.tw/handle/25014063197083945259.

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博士
國立成功大學
建築學系碩博士班
100
With the advancement of personal mobile technology, the application of combining augmented reality (AR) technique with location based services (LBS) has come true. However, in view of the fact that GPS signal lacks of accuracy and can not reach the interior of the construction, this research focuses on the development of indoor mobile augmented reality position tracking system. Taking high environmental adaptability, and high system maintainability as goals, we devoted to realize precise line of sight tracking technique for indoor AR position tracking service. Based on the practical and theory case analysis, we apply infrared invisible marker recognition techniques and head-first tracking skill to the developed system, Head Marker Tracking Augmented Reality (HMTAR). The system can be extendedly applied indoor or outdoor and has AR image recording, sharing, retrieving, and virtual path guiding abilities, which all are tested through practical assessments with good results. Through this paper, we wish to provide another feasible option for future indoor AR location based services.

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Chen, Yuon-Hao, and 陳勇豪. "Indoor Navigation System Design of a Mobile Robot." Thesis, 1998. http://ndltd.ncl.edu.tw/handle/19382513986441272618.

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碩士
國立交通大學
電機與控制工程學系
86
An indoor navigation system of a mobile robot has been developed. In this system we can make a simple path-planning based-on the natural landmark──lamps on the ceiling . A fuzzy controller has been designed to perform the lamp-tracking task in order to make the mobile robot to follow the pre-defined path. The mobile robot will make fast local path-planning using a hueristic clustering network to prevent from collision when unexpected obstacles are presented on its pre-defined path. A fuzzy fusion agency

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Maia, Rui Filipe Dias Valente. "Optimized mobile system for seamless indoor/outdoor positioning." Dissertação, 2014. https://repositorio-aberto.up.pt/handle/10216/89183.

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Maia, Rui Filipe Dias Valente. "Optimized mobile system for seamless indoor/outdoor positioning." Master's thesis, 2014. https://repositorio-aberto.up.pt/handle/10216/89183.

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Syue, Jhih-Chen, and 薛至辰. "Indoor Spatial and Image Information Inquiry through a Mobile Platform for a Deep Learning Indoor Positioning/Mapping Database." Thesis, 2018. http://ndltd.ncl.edu.tw/handle/89qkmn.

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Alves, Samuel António Ferreira Temporão. "Particle-Filter based 3D Mapping, Localization and SLAM for Indoor Mobile Robot Navigation." Master's thesis, 2019. http://hdl.handle.net/10316/87952.

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Dissertação de Mestrado Integrado em Engenharia Electrotécnica e de Computadores apresentada à Faculdade de Ciências e Tecnologia
Ao longo dos anos, tem havido um enorme desenvolvimento em sistemas robóticos. Uma das principais características da autonomia é a capacidade do robô se mover sem limitações no meio ambiente, sem risco de colisão. O comportamento autónomo de um robô móvel pode ser descrito pela relação entre três módulos: mapeamento, localização e planeador de caminhos. O mapeamento constrói um mapa do ambiente, a localização consiste em estimar a pose do robô no mapa e o planeador para determinar caminhos seguros. A localização e o mapeamento quando usados de forma conjunta, resulta numa técnica de Simultaneous Localization and Mapping (SLAM). Nesta dissertação, o foco foram os módulos de mapeamento e localização. O objectivo desta dissertação foi desenvolver uma abordagem de localização e mapeamento em ambientes indoor para a plataforma “InterBot-Social Robot”. Esta abordagem incluiu a fusão de informação sensorial 2D e 3D aplicados a um filtro de partículas para estimar a posição do robô e a construção/actualização de um mapa 3D usando uma nuvem de pontos 3D. O desenvolvimento desta abordagem levou a que mais duas abordagens fossem desenvolvidas (Mapeamento e Localização 2.5D, e 3D Simultaneous Localization and Mapping). Foram realizados testes no sentido de avaliar o desempenho das abordagens propostas. Os testes consistiram em verificar a influência do número máximo de partículas no filtro: na estimação da pose, no mapa gerado e numa pontuação de localização. Os resultados dos testes foram analisados, sendo que os resultados finais atenderam às expectativas estabelecidas para as abordagens.
Over the years, there has been a massive development in robotic systems. One of the main features of autonomy is the ability of the mobile robot to move without limitations in the environment, without risking collisions. The autonomous behaviour of a mobile robot can be described by the connection between three modules: mapping, localization and path planning. Mapping builds a map of the environment, localization consists of estimating the robot pose in a map, and path planning computes safe paths. The localization and mapping can be used together, resulting in a Simultaneous Localization and Mapping (SLAM) technique. In this dissertation, the focus was on the mapping and localization modules. The objective of this dissertation was to develop a localization and mapping approach in indoor environments for the platform “InterBot-Social Robot”. This approach included the fusion of 2D and 3D sensory data applied to a particle filter to estimate the position of the robot and the construction/update of a 3D map using a 3D point cloud. The development of this approach resulted in two more approaches (2.5D Mapping and Localization, and 3D Simultaneous Localization and Mapping). Experimental tests were conducted to evaluate the performance of the developed approaches. The tests consisted in verifying the inuence of the number of particles on the filter: on pose estimation, the generated map and the localization score. Test results were analyzed, with the final outcomes meeting the expectations set for the approaches.

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Yao, Kai, and 姚凱. "Indoor Navigation System of Mobile Robot Based on Cricket Location System." Thesis, 2009. http://ndltd.ncl.edu.tw/handle/97127614791696703482.

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碩士
國立臺北教育大學
資訊科學系碩士班
97
The purpose of the thesis is to comprehend the indoor location system, improve the indoor navigation system, and then combine with mobile robot to navigate robot more accurately. In this study, it has been studied that indoor location system is the best to locate robot accurately. “The Cricket Location System” can locate accurately without any reference node which communicated to each other and any centralized database. It also can setup the coordinates of reference node automatically. Several methods were used for the purpose. More specifically, we tried three difference navigation algorithms to guide the robot. It was shown that the last one algorithm which had minimum error and could guide the robot accurately and quickly. We conclude that we can use indoor location system to navigate a mobile robot accurately. It’s suggested that the navigation system be still improved by adding other sensors.

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Lin, Xin-Yu, and 林芯妤. "A Mobile Indoor Positioning and Caregiver-Patient Communication System." Thesis, 2015. http://ndltd.ncl.edu.tw/handle/99683341356370698088.

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碩士
國立臺灣大學
生醫電子與資訊學研究所
103
Emergency department overcrowding has become a problem over countries in recent years. The main purpose of this research is to increase the administrative efficiency with the help of information communication technology. In this study, we proposed a mobile-based indoor positioning and caregiver-patient communication system, which aims to establish a seamless emergency service for ubiquitous healthcare by using the mobile application (APP) and web technology integrated with the hospital information system (HIS). The overall process flow of the emergency service will be more digitized, transparent and simplified. Both patients and medical practitioners could obtain the benefits from our system. For the healthcare providers, they can utilize the indoor positioning function of the system to manage patients’ locations via the mobile or web application. They can also communicate to each other in an efficient way through this system. For the patients, they are able to receive sufficient information to understand their medical status in order to reduce their anxieties of waiting with the help of mobile APP. We use the Bluetooth Low Energy (BLE) technology and Received Signal Strength (RSS) based localization method with the mobile devices to estimate the patients’ locations. Several experiments were conducted in the test-bed environment and emergency department. Our positioning algorithm achieves 97.22% and 92.95% (95% Confidence Interval = 95.90% ─ 98.55% and 88.88% ─ 97.02%) accuracy of classification in test-bed environment and emergency department. As the result, our mechanism is reliable enough to satisfy the need for medical staff to track the locations of their patients. In conclusion, the system allows emergency services to be more transparent and increases the interaction among doctors, nurses and patients as well as their relatives. With this system, the procedures of emergency services will be better understood. Healthcare providers could have more complete information to take care of patients and to realize the patient-centered care.

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Li, Cheng-Hao, and 李正皓. "Development of the Indoor Positioning System for Mobile Robot." Thesis, 2015. http://ndltd.ncl.edu.tw/handle/51100850757774717835.

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碩士
國立聯合大學
機械工程學系碩士班
103
The thesis deals with the positioning and control system of an indoor mobile robot by using the mobile robot and a platform for tests. A number of ultrasonic transmitters are attached to the ceiling at positions known to computer, and then the computer transmits signals to Arduino chip, which controls ultrasonic transmit. When ultrasonic receiver gets the signal from transmitter, it automatically calculates positioning point and the results will be sent back to the computer. Several ultrasonic transmitters send messages in timing sequence. Using two emitters in different positions measures and calculates distance and thereby can retrieve a two-dimensional position location. Given this coordinate point and the current relative position, the mobile robot is able to gain a new set of coordinate position and further makes the planning of walking paths by means of the program. Experiments include the following three tests. First, mobile robot moving on the straight distance. Second, mobile robot moving on two-dimensional single-axis. Third, two processes working in position. From the conducted experiments, positive results are generated. Multiple test corrections from the carriage path and positioning point error are carried out to improve the systematic accuracy, and therefore to achieve mobile robot location and control purposes.

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ALBAN, NARANJO RUBEN EMILIANO, and Emiliano Alban. "2D Indoor Occupancy Grid Mapping for Mobile Robotic Platforms Using ROS-based ORB-SLAM2." Thesis, 2019. http://ndltd.ncl.edu.tw/handle/wqh9qs.

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碩士
國立臺北科技大學
機械與自動化碩士外國學生專班
107
This study covers a new frontier to ascertain whether Visual Simultaneous Localization and Mapping (vSLAM) has the ability, by itself, to perform further motion tasks as path planning and autonomous navigation by using a single RGB-D camera. The proposed solution is the creation in real-time of a standard Two-Dimensional Occupancy Grid Map (2D OGM) system for an indoor environment leveraging complete compatibility with the Robot Operating System (ROS). The robot pose is estimated by the state-of-the-art feature-based algorithm so-called Oriented FAST and Brief SLAM 2 (ORB-SLAM2). Subsequently, the map is built by the combination of the depth information and the pose of the mobile robotic platform (MRP). The experimental process is divided into two stages: virtual and real environments. The purpose of the first part is to collect data and gain expertise configuring the system, whereas the second stage delineates the possibility to implement the suggested approach in a real application. Therefore, the resulting map is compared with a ROS LIDAR-based map to validate the potential and system’s applicability utilizing ground truth maps to compute map-mapping metrics such as mean square pixel error and free/occupied cells ratio. Furthermore, this study aims to transmit essential knowledge to those roboticists who are beginning to delve a viable vSLAM solution to build standard 2D OGM’s.

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Dissertations / Theses on the topic 'Indoor mobile mapping system'

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