Relevant bibliographies by topics / Mobile robot mapping / Dissertations / Theses
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Dissertations / Theses on the topic 'Mobile robot mapping'

Author: Grafiati
Published: 14 March 2023
Last updated: 31 July 2025

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1

HASSANZADEH, Aidin. "Mobile Robot Wind Mapping." Thesis, Örebro universitet, Institutionen för naturvetenskap och teknik, 2014. http://urn.kb.se/resolve?urn=urn:nbn:se:oru:diva-34606.

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Statistical gas distribution mapping has recently become a prominent research area in the robotics community. Gas distribution mapping using mobile robots aims for building map of gas dispersion in an unknown environment using the sampled gas concentrations accompanied by the corresponding atmospheric variables. In this context, wind is considered as one of the main driving forces and recently exploited as an environmental bias in the the modelling process. However, the existing approaches utilizing the wind data are based on very simple averaging window methods which do not take the specic sp
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2

Wong, Chee Kit. "Cognitive inspired mapping by an autonomous mobile robot." Click here to access this resource online, 2008. http://hdl.handle.net/10292/427.

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When animals explore a new environment, they do not acquire a precise map of the places visited. In fact, research has shown that learning is a recurring process. Over time, new information helps the animal to update their perception of the locations it has visited. Yet, they are still able to use the fuzzy and often incomplete representation to find their way home. This process has been termed the cognitive mapping process. The work presented in this thesis uses a mobile robot equipped with sonar sensors to investigate the nature of such a process. Specifically, what is the information that i
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WANG, XUAN. "2D Mapping Solutionsfor Low Cost Mobile Robot." Thesis, KTH, Skolan för datavetenskap och kommunikation (CSC), 2013. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-138427.

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Mapping, localization, and path-planning are three fundamental problems of robotic. Robot needs a map to perform actions like path-planning. When positioning system is not available, the map is also used for localization. A lot of researches have been done in this area. And newly emerging ranging sensors, like Kinect and TOF camera, have widen people’s choices and greatly enhanced innovative ideas in robot mapping. The price of these sensors is not very high and the performance is decent, which makes low cost, high performance mobile robot solution possible. In this thesis, different existing
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Nordin, Peter. "Mobile Robot Traversability Mapping : For Outdoor Navigation." Licentiate thesis, Linköpings universitet, Fluida och mekatroniska system, 2012. http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-85937.

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To avoid getting stuck or causing damage to a vehicle or its surroundings a driver must be able to identify obstacles and adapt speed to ground conditions. An automatically controlled vehicle must be able to handle these identifications and adjustments by itself using sensors, actuators and control software. By storing properties of the surroundings in a map, a vehicle revisiting an area can benefit from prior information. Rough ground may cause oscillations in the vehicle chassis. These can be measured by on-board motion sensors. For obstacle detection, a representation of the geometry of the
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5

Deďo, Michal. "Řízení čtyřkolového mobilního robotu." Master's thesis, Vysoké učení technické v Brně. Fakulta strojního inženýrství, 2011. http://www.nusl.cz/ntk/nusl-229688.

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The purpose of this thesis is to design and implement four-wheel mobile robot control which will be used in future in the field of mapping and localization. Concretely, it will be a design of drive control with microcontrollers Xmega, which will also process the signals of the sensors. Communication with the PC will ensure the BlueTooth module. In view of the future use of the robot, there will be designed and carried out modifications of the mechanical part. Correctness and functionality of all parts of the robot will be verified by carrying out basic movements.
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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 env
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Ezequiel, Carlos Favis. "Real-Time Map Manipulation for Mobile Robot Navigation." Scholar Commons, 2013. http://scholarcommons.usf.edu/etd/4481.

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Mobile robots are gaining increased autonomy due to advances in sensor and computing technology. In their current form however, robots still lack algorithms for rapid perception of objects in a cluttered environment and can benefit from the assistance of a human operator. Further, fully autonomous systems will continue to be computationally expensive and costly for quite some time. Humans can visually assess objects and determine whether a certain path is traversable, but need not be involved in the low-level steering around any detected obstacles as is necessary in remote-controlled systems
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Casalaro, Giuseppina Lucia, and Giulio Cattivera. "MODEL-DRIVEN ENGINEERING FOR MOBILE ROBOT SYSTEMS: A SYSTEMATIC MAPPING STUDY." Thesis, Mälardalens högskola, Akademin för innovation, design och teknik, 2015. http://urn.kb.se/resolve?urn=urn:nbn:se:mdh:diva-28261.

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The development of autonomous Mobile Robot Systems is attracting nowadays more and moreinterest from both researchers and practitioners, mainly because they may open for a wide rangeof improvements for quality of life. Mobile robots are systems capable of accomplishing missionsby moving in an unknown environment without human supervision. Throughout mechanisms ofdetection, communication and adaptation, they can adapt their behavior according to changes ofthe environment. Individual robots can even join teams of autonomous mobile robots that, throughindividual tasks, accomplish common missions.
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9

Williams, Stefan Bernard. "Efficient Solutions to Autonomous Mapping and Navigation Problems." University of Sydney. Aerospace, Mechanical and Mechatronic Engineering, 2002. http://hdl.handle.net/2123/809.

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This thesis deals with the Simultaneous Localisation and Mapping algorithm as it pertains to the deployment of mobile systems in unknown environments. Simultaneous Localisation and Mapping (SLAM) as defined in this thesis is the process of concurrently building up a map of the environment and using this map to obtain improved estimates of the location of the vehicle. In essence, the vehicle relies on its ability to extract useful navigation information from the data returned by its sensors. The vehicle typically starts at an unknown location with no a priori knowledge of landmark locations. Fr
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10

ROSA, STEFANO. "Localization and Mapping for Service Robotics Applications." Doctoral thesis, Politecnico di Torino, 2014. http://hdl.handle.net/11583/2542488.

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In this work we address different techniques for autonomous navigation of single and multi-robot systems in unstructured indoor environments. The first problem that we address is the problem of robot localization. We first show how a multi-robot localization approach can speed up the process as well as introducing robustness to failures. At the same time we show the possibility to introduce some sort of insight into the algorithm. We then focus on increasing the robustness of single robot localization, by taking advantage of sensor fusion and by exploiting visual markers embedded in the enviro
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Sezginalp, Emre. "Simultaneous Localization And Mapping For A Mobile Robot Operating In Outdoor Environments." Master's thesis, METU, 2007. http://etd.lib.metu.edu.tr/upload/2/12609191/index.pdf.

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In this thesis, a method to the solution of autonomous navigation problem of a robot working in an outdoor application is sought. The robot will operate in unknown terrain where there is no a priori map present, and the robot must localize itself while simultaneously mapping the environment. This is known as Simultaneous Localization and Mapping (SLAM) problem in the literature. The SLAM problem is attempted to be solved by using the correlation between range data acquired at different poses of the robot. A robot operating outdoors will traverse unstructured terrain, therefore for localization
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Meger, David Paul. "Planning, localization, and mapping for a mobile robot in a camera network." Thesis, McGill University, 2007. http://digitool.Library.McGill.CA:80/R/?func=dbin-jump-full&object_id=101623.

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Networks of cameras such as building security systems can be a source of localization information for a mobile robot assuming a map of camera locations as well as calibration information for each camera is available. This thesis describes an automated system to acquire such information. A fully automated camera calibration system uses fiducial markers and a mobile robot in order to drastically improve ease-of-use compared to standard techniques. A 6DOF EKF is used for mapping and is validated experimentally over a 50 m hallway environment. Motion planning strategies are considered both in fron
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Reggente, Matteo. "Statistical gas distribution modelling for mobile robot applications." Doctoral thesis, Örebro universitet, Institutionen för naturvetenskap och teknik, 2014. http://urn.kb.se/resolve?urn=urn:nbn:se:oru:diva-37896.

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In this dissertation, we present and evaluate algorithms for statistical gas distribution modelling in mobile robot applications. We derive a representation of the gas distribution in natural environments using gas measurements collected with mobile robots. The algorithms fuse different sensors readings (gas, wind and location) to create 2D or 3D maps. Throughout this thesis, the Kernel DM+V algorithm plays a central role in modelling the gas distribution. The key idea is the spatial extrapolation of the gas measurement using a Gaussian kernel. The algorithm produces four maps: the weight map
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14

Matsumoto, Takeshi, and takeshi matsumoto@flinders edu au. "Real-Time Multi-Sensor Localisation and Mapping Algorithms for Mobile Robots." Flinders University. Computer Science, Engineering and Mathematics, 2010. http://catalogue.flinders.edu.au./local/adt/public/adt-SFU20100302.131127.

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A mobile robot system provides a grounded platform for a wide variety of interactive systems to be developed and deployed. The mobility provided by the robot presents unique challenges as it must observe the state of the surroundings while observing the state of itself with respect to the environment. The scope of the discipline includes the mechanical and hardware issues, which limit and direct the capabilities of the software considerations. The systems that are integrated into the mobile robot platform include both specific task oriented and fundamental modules that define the core behaviou
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Bacca, Cortés Eval Bladimir. "Appearance-based mapping and localization using feature stability histograms for mobile robot navigation." Doctoral thesis, Universitat de Girona, 2012. http://hdl.handle.net/10803/83589.

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This work proposes an appearance-based SLAM method whose main contribution is the Feature Stability Histogram (FSH). The FSH is built using a voting schema, if the feature is re-observed, it will be promoted; otherwise it progressively decreases its corresponding FSH value. The FSH is based on the human memory model to deal with changing environments and long-term SLAM. This model introduces concepts of Short-Term memory (STM), which retains information long enough to use it, and Long-Term memory (LTM), which retains information for longer periods of time. If the entries in the STM are rehears
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16

Easton, Adam. "From mobile robot localisation to multi-robot exploration : a Gaussian approach to localisation and mapping in large environments." Thesis, University of Oxford, 2007. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.442398.

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Wijk, Olle. "Triangulation Based Fusion of Sonar Data with Application in Mobile Robot Mapping and Localization." Doctoral thesis, Stockholm : Tekniska högsk, 2001. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-3124.

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18

Dogruer, Can Ulas. "Global Urban Localization Of An Outdoor Mobile Robot Using Satellite Images." Phd thesis, METU, 2009. http://etd.lib.metu.edu.tr/upload/12610446/index.pdf.

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In this dissertation, the mapping of outdoor environments and localization of a mobile robot in that setting is considered. It is well known that in the absence of a map or precise pose estimates, localization and mapping is a coupled problem. However, in this dissertation this problem is decoupled in to two disjoint steps<br>mapping and localization on the acquired map. First the images of the outdoor environment is downloaded from a website such as Google Earth and then these images are processed by utilizing several artificial neural network topologies to create maps. Once these maps are ob
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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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<p>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.</p><p>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 theor
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HERRERA, LUIS ERNESTO YNOQUIO. "MOBILE ROBOT SIMULTANEOUS LOCALIZATION AND MAPPING USING DP-SLAM WITH A SINGLE LASER RANGE FINDER." PONTIFÍCIA UNIVERSIDADE CATÓLICA DO RIO DE JANEIRO, 2011. http://www.maxwell.vrac.puc-rio.br/Busca_etds.php?strSecao=resultado&nrSeq=34617@1.

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PONTIFÍCIA UNIVERSIDADE CATÓLICA DO RIO DE JANEIRO<br>CONSELHO NACIONAL DE DESENVOLVIMENTO CIENTÍFICO E TECNOLÓGICO<br>SLAM (Mapeamento e Localização Simultânea) é uma das áreas mais pesquisadas na Robótica móvel. Trata-se do problema, num robô móvel, de construir um mapa sem conhecimento prévio do ambiente e ao mesmo tempo manter a sua localização nele. Embora a tecnologia ofereça sensores cada vez mais precisos, pequenos erros na medição são acumulados comprometendo a precisão na localização, sendo estes evidentes quando o robô retorna a uma posição inicial depois de percorrer um longo camin
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YUAN, ZEHUI. "Plane-based 3D Mapping for Structured Indoor Environment." Doctoral thesis, Politecnico di Torino, 2013. http://hdl.handle.net/11583/2506288.

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Three-dimensional (3D) mapping deals with the problem of building a map of the unknown environments explored by a mobile robot. In contrast to 2D maps, 3D maps contain richer information of the visited places. Besides enabling robot navigation in 3D, a 3D map of the robot surroundings could be of great importance for higher-level robotic tasks, like scene interpretation and object interaction or manipulation, as well as for visualization purposes in general, which are required in surveillance, urban search and rescue, surveying, and others. Hence, the goal of this thesis is to develop a syste
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Bore, Nils. "Object Instance Detection and Dynamics Modeling in a Long-Term Mobile Robot Context." Doctoral thesis, KTH, Robotik, perception och lärande, RPL, 2017. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-219813.

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In the last years, simple service robots such as autonomous vacuum cleaners and lawn mowers have become commercially available and increasingly common. The next generation of service robots should perform more advanced tasks, such as to clean up objects. Robots then need to learn to robustly navigate, and manipulate, cluttered environments, such as an untidy living room. In this thesis, we focus on representations for tasks such as general cleaning and fetching of objects. We discuss requirements for these specific tasks, and argue that solving them would be generally useful, because of their
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Botterill, Tom. "Visual navigation for mobile robots using the Bag-of-Words algorithm." Thesis, University of Canterbury. Computer Science and Software Engineering, 2011. http://hdl.handle.net/10092/5511.

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Robust long-term positioning for autonomous mobile robots is essential for many applications. In many environments this task is challenging, as errors accumulate in the robot’s position estimate over time. The robot must also build a map so that these errors can be corrected when mapped regions are re-visited; this is known as Simultaneous Localisation and Mapping, or SLAM. Successful SLAM schemes have been demonstrated which accurately map tracks of tens of kilometres, however these schemes rely on expensive sensors such as laser scanners and inertial measurement units. A more attractive, l
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Malartre, Florent. "Perception intelligente pour la navigation rapide de robots mobiles en environnement naturel." Phd thesis, Université Blaise Pascal - Clermont-Ferrand II, 2011. http://tel.archives-ouvertes.fr/tel-00673435.

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Cette thèse concerne la perception de l'environnement pour le guidage automatique d'un robot mobile. Lorsque l'on souhaite réaliser un système de navigation autonome, plusieurs éléments doivent être abordés. Parmi ceux-ci nous traiterons de la franchissabilité de l'environnement sur la trajectoire du véhicule. Cette franchissabilité dépend notamment de la géométrie et du type de sol mais également de la position du robot par rapport à son environnement (dans un repère local) ainsi que l'objectif qu'il doit atteindre (dans un repère global). Les travaux de cette thèse traitent donc de la percep
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El, Hamzaoui Oussama. "Localisation et cartographie simultanées pour un robot mobile équipé d'un laser à balayage : CoreSLAM." Phd thesis, Ecole Nationale Supérieure des Mines de Paris, 2012. http://pastel.archives-ouvertes.fr/pastel-00935600.

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La thématique de la navigation autonome constitue l'un des principaux axes de recherche dans le domaine des véhicules intelligents et des robots mobiles. Dans ce contexte, on cherche à doter le robot d'algorithmes et de méthodes lui permettant d'évoluer dans un environnement complexe et dynamique, en toute sécurité et en parfaite autonomie. Dans ce contexte, les algorithmes de localisation et de cartographie occupent une place importante. En effet, sans informations suffisantes sur la position du robot (localisation) et sur la nature de son environnement (cartographie), les autres algorithmes
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Sola, Ortega Joan. "Towards visual localization, mapping and moving objects tracking by a mobile robot: a geometric and probabilistic approach." Phd thesis, Institut National Polytechnique de Toulouse - INPT, 2007. http://tel.archives-ouvertes.fr/tel-00136307.

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Dans cette thèse, nous résolvons le problème de reconstruire simultanément une représentation de la géométrie du monde, de la trajectoire de l'observateur, et de la trajectoire des objets mobiles, à l'aide de la vision. Nous divisons le problème en trois étapes : D'abord, nous donnons une solution au problème de la cartographie et localisation simultanées pour la vision monoculaire qui fonctionne dans les situations les moins bien conditionnées géométriquement. Ensuite, nous incorporons l'observabilité 3D instantanée en dupliquant le matériel de vision avec traitement monoculaire. Ceci élimine
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Solà, Ortega Joan. "Towards visual localization, mapping and moving objects tracking by a mobile robot : a geometric and probabilistic approach." Toulouse, INPT, 2007. http://ethesis.inp-toulouse.fr/archive/00000528/.

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Dans cette thèse, nous résolvons le problème de construire simultanément une représentation de la géométrie du monde, de la trajectoire de l'observateur, et de la trajectoire des objets mobiles à l'aide de la vision. Nous divisons le problème en trois étapes. D'abord nous donnons une solution au problème de la cartographie et localisation simultanées pour la vision monoculaire qui fonctionne dans les situations les moins bien conditionnées géométriquement. Ensuite, nous incorporons l'observabilité 3D instantanée en dupliquant le matériel de vision avec traitement monoculaire. Ceci élimine des
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Solà, Ortega Joan Devy Michel Monin André. "Towards visual localization, mapping and moving objects tracking by a mobile robot a geometric and probabilistic approach /." Toulouse : INP Toulouse, 2007. http://ethesis.inp-toulouse.fr/archive/00000528.

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Williams, Stefan Bernard. "Efficient Solutions to Autonomous Mapping and Navigation Problems." Thesis, The University of Sydney, 2001. http://hdl.handle.net/2123/809.

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This thesis deals with the Simultaneous Localisation and Mapping algorithm as it pertains to the deployment of mobile systems in unknown environments. Simultaneous Localisation and Mapping (SLAM) as defined in this thesis is the process of concurrently building up a map of the environment and using this map to obtain improved estimates of the location of the vehicle. In essence, the vehicle relies on its ability to extract useful navigation information from the data returned by its sensors. The vehicle typically starts at an unknown location with no a priori knowledge of landmark locations. Fr
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Persson, Martin. "Semantic Mapping using Virtual Sensors and Fusion of Aerial Images with Sensor Data from a Ground Vehicle." Doctoral thesis, Örebro : Örebro University, 2008. http://urn.kb.se/resolve?urn=urn:nbn:se:oru:diva-2186.

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Burian, František. "Tvorba multispektrálních map v mobilní robotice." Doctoral thesis, Vysoké učení technické v Brně. Fakulta elektrotechniky a komunikačních technologií, 2015. http://www.nusl.cz/ntk/nusl-233689.

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The dissertation deals with utilisation of multispectral optical measurement for data fusion that may be used for visual telepresence and indoor/outdoor mapping by heterogeneous mobile robotic system. Optical proximity sensors, thermal imagers, and tricolour cameras are used for the fusion. The described algorithms are optimised to work in real-time and implemented on CASSANDRA robotic system made by our robotic research group.
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Ozgur, Ayhan. "A Novel Mobile Robot Navigation Method Based On Combined Feature Based Scan Matching And Fastslam Algorithm." Master's thesis, METU, 2010. http://etd.lib.metu.edu.tr/upload/12612431/index.pdf.

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The main focus of the study is the implementation of a practical indoor localization and mapping algorithm for large scale, structured indoor environments. Building an incremental consistent map while also using it for localization is partially unsolved problem and of prime importance for mobile robot navigation. Within this framework, a combined method consisting of feature based scan matching and FastSLAM algorithm using LADAR and odometer sensor is presented. In this method, an improved data association and localization accuracy is achieved by feeding the SLAM module with better incremental
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Werner, Felix. "Vision-based topological mapping and localisation." Thesis, Queensland University of Technology, 2010. https://eprints.qut.edu.au/31815/1/Felix_Werner_Thesis.pdf.

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Competent navigation in an environment is a major requirement for an autonomous mobile robot to accomplish its mission. Nowadays, many successful systems for navigating a mobile robot use an internal map which represents the environment in a detailed geometric manner. However, building, maintaining and using such environment maps for navigation is difficult because of perceptual aliasing and measurement noise. Moreover, geometric maps require the processing of huge amounts of data which is computationally expensive. This thesis addresses the problem of vision-based topological mapping and loca
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Machado, Karla Fedrizzi. "Módulo de auto-localização para um agente exploratório usando Filtro de Kalman." reponame:Biblioteca Digital de Teses e Dissertações da UFRGS, 2003. http://hdl.handle.net/10183/26953.

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Construir um robô capaz de realizar tarefas sem qualquer interferência humana é um dos maiores desafios da Robótica Move!. Dispondo apenas de sensores, um robô autônomo precisa explorar ambientes desconhecidos e, simultaneamente, construir um mapa confiável a fim de se localizar e realizar a tarefa. Na presença de erros de odometria, o robô não consegue se auto-localizar corretamente em seu mapa interno e acaba por construir um mapa deformado e não condizente com a realidade. Este trabalho apresenta uma solução para o problema da auto-localização de robô moveis autônomos. Esta solução faz use
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Rogers, John Gilbert. "Life-long mapping of objects and places in domestic environments." Diss., Georgia Institute of Technology, 2013. http://hdl.handle.net/1853/47736.

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In the future, robots will expand from industrial and research applications to the home. Domestic service robots will work in the home to perform useful tasks such as object retrieval, cleaning, organization, and security. The tireless support of these systems will not only enable able bodied people to avoid mundane chores; they will also enable the elderly to remain independent from institutional care by providing service, safety, and companionship. Robots will need to understand the relationship between objects and their environments to perform some of these tasks. Structured indoor envi
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Hähnel, Dirk. "Mapping with mobile robots." [S.l. : s.n.], 2005. http://deposit.ddb.de/cgi-bin/dokserv?idn=974035599.

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Diaz, Espinosa Carlos Andrés. "Uma aplicação de navegação robótica autônoma através de visão computacional estéreo." [s.n.], 2010. http://repositorio.unicamp.br/jspui/handle/REPOSIP/263062.

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Orientador: Paulo Roberto Gardel Kurka<br>Dissertação (mestrado) - Universidade Estadual de Campinas, Faculdade de Engenharia Mecânica<br>Made available in DSpace on 2018-08-16T16:41:02Z (GMT). No. of bitstreams: 1 DiazEspinosa_CarlosAndres_M.pdf: 5130242 bytes, checksum: 334f37aa82bbde2c9ddbfe192baa7c48 (MD5) Previous issue date: 2010<br>Resumo: O presente trabalho descreve uma técnica de navegação autônoma, utilizando imagens estereoscópicas de câmeras para estimar o movimento de um robô em um ambiente desconhecido. Um método de correlação de pontos em imagens unidimensionais é desenvolvid
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Huang, Henry. "Bearing-only SLAM : a vision-based navigation system for autonomous robots." Thesis, Queensland University of Technology, 2008. https://eprints.qut.edu.au/28599/1/Henry_Huang_Thesis.pdf.

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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 omnidir
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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 omnidir
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Pronobis, Andrzej. "Semantic Mapping with Mobile Robots." Doctoral thesis, KTH, Datorseende och robotik, CVAP, 2011. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-34171.

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After decades of unrealistic predictions and expectations, robots have finally escaped from industrial workplaces and made their way into our homes,offices, museums and other public spaces. These service robots are increasingly present in our environments and many believe that it is in the area ofservice and domestic robotics that we will see the largest growth within thenext few years. In order to realize the dream of robot assistants performing human-like tasks together with humans in a seamless fashion, we need toprovide them with the fundamental capability of understanding complex, dynamic
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Kaess, Michael. "Incremental smoothing and mapping." Diss., Atlanta, Ga. : Georgia Institute of Technology, 2008. http://hdl.handle.net/1853/26572.

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Thesis (Ph.D)--Computing, Georgia Institute of Technology, 2009.<br>Committee Chair: Dellaert, Frank; Committee Member: Bobick, Aaron; Committee Member: Christensen, Henrik; Committee Member: Leonard, John; Committee Member: Rehg, James. Part of the SMARTech Electronic Thesis and Dissertation Collection.
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Li, Hongjun. "Mapping in uncertain environments for mobile robots." Doctoral thesis, Universidade de Évora, 2019. http://hdl.handle.net/10174/26154.

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Um dos problemas fundamentais em robótica móvel é o problema da localização e mapeamento, no qual um robô se deve localizar ao mesmo tempo que constrói um mapa do ambiente. Existem diversas técnicas para abordar este problema. Neste trabalho propõem-se abordagens novas para a construção do mapa em ambientes estáticos e dinâmicos, assumindo pose conhecida. As abordagens propostas baseiam-se em campos aleatórios de Markov (Markov random fields - MRF) e em campos aleatórios Gaussianos (Gaussian random fields - GRF), seguindo um ponto de vista Bayesiano, onde as distribuições de probabilidade a pr
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Ryde, Julian. "Cooperative 3D Mapping and Localisation of Multiple Mobile Robots." Thesis, University of Essex, 2008. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.486562.

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Developing a coherent and unified approach to localisation and mapping is one of the prerequisites for fully establishing the mobile robotics era in the 21st century. Therefore, this research attempts to address this simultaneous localisation and mapping problem (SLAM) for both a single robot and cooperating multiple robots equipped.with 3D range sensors. To begin with various methods and hardware set-ups for allowing robots to reliably detect each other are explored and tested. Once robots have detected others the question of how their relative pose can be determined most accurately is invest
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Гузик, Петро Євгенович, та Petro Huzyk. "Розробка та дослідження системи для побудови карти з одночасним контролем наявного місцерозташування і пройденого шляху в мобільних автономних засобах". Master's thesis, Тернопіль, ТНТУ, 2020. http://elartu.tntu.edu.ua/handle/lib/33425.

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Роботу виконано на кафедрі ком’пютерно-інтегрованих технологій Тернопільського національного технічного університету імені Івана Пулюя Міністерства освіти і науки України Захист відбудеться 21 грудня 2020 р. о 08 .00 годині на засіданні екзаменаційної комісії № 24 у Тернопільському національному технічному університеті імені Івана Пулюя за адресою: 46001, м. Тернопіль, вул.Руська, 56, навчальний корпус №1, ауд. 403<br>У роботі було розроблено автоматизовану систему для побудови карти з одночасним контролем наявного місцерозташування і пройденого шляху в мобільних автономних засобах. Було розро
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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<br>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
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Andreasson, Henrik. "Local visual feature based localisation and mapping by mobile robots." Doctoral thesis, Örebro : Örebro University, 2008. http://urn.kb.se/resolve?urn=urn:nbn:se:oru:diva-2444.

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Schaefer, Alexander [Verfasser], and Wolfram [Akademischer Betreuer] Burgard. "Highly accurate lidar-based mapping and localization for mobile robots." Freiburg : Universität, 2020. http://d-nb.info/1207756016/34.

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BELO, FELIPE AUGUSTO WEILEMANN. "EXPLORATION AND VISUAL MAPPING ALGORITHMS DEVELOPMENT FOR LOW COST MOBILE ROBOTS." PONTIFÍCIA UNIVERSIDADE CATÓLICA DO RIO DE JANEIRO, 2006. http://www.maxwell.vrac.puc-rio.br/Busca_etds.php?strSecao=resultado&nrSeq=9142@1.

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CONSELHO NACIONAL DE DESENVOLVIMENTO CIENTÍFICO E TECNOLÓGICO<br>Ao mesmo tempo em que a autonomia de robôs pessoais e domésticos aumenta, cresce a necessidade de interação dos mesmos com o ambiente. A interação mais básica de um robô com o ambiente é feita pela percepção deste e sua navegação. Para uma série de aplicações não é prático prover modelos geométricos válidos do ambiente a um robô antes de seu uso. O robô necessita, então, criar estes modelos enquanto se movimenta e percebe o meio em que está inserido através de sensores. Ao mesmo tempo é necessário minimizar a complexidade
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Holz, Dirk [Verfasser]. "Efficient 3D Segmentation, Registration and Mapping for Mobile Robots / Dirk Holz." Bonn : Universitäts- und Landesbibliothek Bonn, 2017. http://d-nb.info/1139048856/34.

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Trevor, Alexander J. B. "Semantic mapping for service robots: building and using maps for mobile manipulators in semi-structured environments." Diss., Georgia Institute of Technology, 2015. http://hdl.handle.net/1853/53583.

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Although much progress has been made in the field of robotic mapping, many challenges remain including: efficient semantic segmentation using RGB-D sensors, map representations that include complex features (structures and objects), and interfaces for interactive annotation of maps. This thesis addresses how prior knowledge of semi-structured human environments can be leveraged to improve segmentation, mapping, and semantic annotation of maps. We present an organized connected component approach for segmenting RGB-D data into planes and clusters. These segments serve as input to our mapping
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