Dissertation/ Thesis
Robust Localization and Moving Object Detection From a Moving Robot
| العنوان: | Robust Localization and Moving Object Detection From a Moving Robot |
|---|---|
| Alternate Title: | 強健機器人定位與移動物體偵測 |
| المؤلفون: | Tai-Liang Chen, 陳泰良 |
| Thesis Advisors: | 王傑智 |
| سنة النشر: | 2007 |
| المجموعة: | National Digital Library of Theses and Dissertations in Taiwan |
| الوصف: | 95 Robust robot pose estimation is an important prerequisite of moving object detection and tracking in dynamic environments. Since a simple segmentation is not enough for the representation of an object due to problem of fragmentation and grouping of the segments. It may cause incorrect data association. To address these problems, we propose a segment-merging approach with the Sampling- and Correlation-based Range Image Matching(or SCRIM) algorithm. To concern about the uncertainty of the combination of all the merged segments, we find all the proper and possible hypothesis of data association and segmentation. We specify all the uncertainty from the measurement, segment, segmentation and data association, to detection and localization. Also we address the problems such as pitch motion of the robot, localization and detection in dynamic environments. |
| Original Identifier: | 095NTU05392098 |
| نوع الوثيقة: | 學位論文 ; thesis |
| وصف الملف: | 41 |
| الاتاحة: | http://ndltd.ncl.edu.tw/handle/43560071247968545383 |
| رقم الانضمام: | edsndl.TW.095NTU05392098 |
| قاعدة البيانات: | Networked Digital Library of Theses & Dissertations |
| الوصف غير متاح. |