Thesis Details

Lokalizace mobilního robota pomocí kamery

Master's Thesis Student: Vaverka Filip Academic Year: 2014/2015 Supervisor: Rozman Jaroslav, Ing., Ph.D.
English title
Mobile Robot Localization Using Camera
Language
Czech
Abstract

This thesis describes design and implementation of an approach to the mobile robot localization. The proposed method is based purely on images taken by a monocular camera. The described solution handles localization as an association problem and, therefore, falls in the category of topological localization methods. The method is based on a generative probabilistic model of the environment appearance. The proposed solution is capable to eliminate some of the difficulties which are common in traditional localization approaches.

Keywords

appearance-based localization, monocular camera, topological space, probabilistic model, generative model, random graphs

Department
Department of Intelligent Systems FIT BUT
Degree Programme
Information Technology, Field of Study Intelligent Systems
Files
Status
defended, grade B
Date
24 June 2015
Reviewer
Orság Filip, Ing., Ph.D.
Committee
Zbořil František V., doc. Ing., CSc. (DITS FIT BUT), předseda
Bidlo Michal, doc. Ing., Ph.D. (DCSY FIT BUT), člen
Češka Milan, prof. RNDr., CSc. (DITS FIT BUT), člen
Lucká Mária, prof. RNDr., Ph.D. (FIIT STU), člen
Očenášek Pavel, Mgr. Ing., Ph.D. (DIFS FIT BUT), člen
Švéda Miroslav, prof. Ing., CSc. (DIFS FIT BUT), člen
Citation
VAVERKA, Filip. Lokalizace mobilního robota pomocí kamery. Brno, 2015. Master's Thesis. Brno University of Technology, Faculty of Information Technology. 2015-06-24. Supervised by Rozman Jaroslav. Available from: https://www.fit.vut.cz/study/thesis/17723/
BibTeX 
@mastersthesis{FITMT17723,
    author = "Filip Vaverka",
    type = "Master's thesis",
    title = "Lokalizace mobiln\'{i}ho robota pomoc\'{i} kamery",
    school = "Brno University of Technology, Faculty of Information Technology",
    year = 2015,
    location = "Brno, CZ",
    language = "czech",
    url = "https://www.fit.vut.cz/study/thesis/17723/"
}

Theses

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