Visual location awareness for mobile robots using feature-based vision
| dc.contributor.author | Kazeka, Alexander, author | |
| dc.contributor.author | Draper, Bruce A. (Bruce Austin), 1962-, advisor | |
| dc.contributor.author | Maciejewski, Anthony A., committee member | |
| dc.contributor.author | Anderson, Charles W., committee member | |
| dc.date.accessioned | 2007-01-03T04:39:00Z | |
| dc.date.available | 2007-01-03T04:39:00Z | |
| dc.date.issued | 2010 | |
| dc.description | Department Head: L. Darrell Whitley. | |
| dc.description.abstract | This thesis presents an evaluation of feature-based visual recognition paradigm for the task of mobile robot localization. Although many works describe feature-based visual robot localization, they often do so using complex methods for map-building and position estimation which obscure the underlying vision systems' performance. One of the main contributions of this work is the development of an evaluation algorithm employing simple models for location awareness with focus on evaluating the underlying vision system. While SeeAsYou is used as a prototypical vision system for evaluation, the algorithm is designed to allow it to be used with other feature-based vision systems as well. The main result is that feature-based recognition with SeeAsYou provides some information but is not strong enough to reliably achieve location awareness without the temporal context. Adding a simple temporal model, however, suggests a more reliable localization performance. | |
| dc.format.medium | masters theses | |
| dc.identifier | 2010_Spring_Kazeka_Alexander.pdf | |
| dc.identifier | ETDF2010100002COMS | |
| dc.identifier | TJ211.415.K38 2010 | |
| dc.identifier.uri | http://hdl.handle.net/10217/38186 | |
| dc.language | English | |
| dc.language.iso | eng | |
| dc.publisher | Colorado State University. Libraries | |
| dc.relation.ispartof | 2000-2019 | |
| dc.rights | Copyright and other restrictions may apply. User is responsible for compliance with all applicable laws. For information about copyright law, please see https://libguides.colostate.edu/copyright. | |
| dc.title | Visual location awareness for mobile robots using feature-based vision | |
| dc.type | Text | |
| dcterms.rights.dpla | This Item is protected by copyright and/or related rights (https://rightsstatements.org/vocab/InC/1.0/). You are free to use this Item in any way that is permitted by the copyright and related rights legislation that applies to your use. For other uses you need to obtain permission from the rights-holder(s). | |
| thesis.degree.discipline | Computer Science | |
| thesis.degree.grantor | Colorado State University | |
| thesis.degree.level | Masters | |
| thesis.degree.name | Master of Science (M.S.) |
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