Robot Localization and Map Building Part 3 pdf

... performed. Mobile robot odometric system also overestimates its orientation resulting in k 3 value greater then 1.0. Robot Localization and Map Building9 0 Robot Localization and Map Building8 8 7. ... objective function value than a predetermined population Robot Localization and Map Building9 4 Robot Localization and Map Building6 4 2 .3 Camera model Generally, a camera has 6 degre...

Ngày tải lên: 12/08/2014, 00:20

... Smrekar Robot Localization and Map Building, Edited by Hanaah Yussof p. cm. ISBN 978-9 53- 7619- 83- 1 Robot Localization and Map Building1 4 Fig. 7. Landmark model recognition for Experiments 1, 2 and ... Angle Mean 39 4.02 48. 63 86.91 2 .35 StdDev 117 .32 2.91 73. 58 1.71 Experpiment 3 Distance Angle Error in Distance Error in Angle Mean 30 5.67 12.67 90 .30 3. 61 Std...

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... (2006). Map Building and SLAM Algorithms, Autonomous Mobile Robots: Sensing, Control, Decision Making and Applications, Lewis, F.L. & Ge, S.S. (eds), 1st edn, pp 33 5 -37 1, CRC, 0-84 93- 3748-8, ... exact mobile robot parameters present systematic error and can be compensated Robot Localization and Map Building3 0 3. Ranging Technologies and Wireless Media The aim her...

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... (s) for some s א (3) (4) Robot Localization and Map Building1 40 map 2 is 0 .35 rads rotated and t x = 5m, t y = 10 m translated from map1 . The size of the maps is 30 X30 metres. Coincident ... obtained by the RANSAC algorithm of Sec. 4.1 between each pair of maps, i.e., map 1 -map 2 , map 2 -map 3 , map 3 -map 4 and map 4 -map 1 . This will be the star...

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... Mobile Robot Localization and Map Building foraNonholonomicMobile Robot 2 53 Mobile Robot Localization and Map Building foraNonholonomicMobile Robot SongminJia and AkiraYasuda x Mobile Robot ... 3 2 3 4 2 ↑ 1 ↑ 2 ↑ 3 2 3 4 3 ↑ 1 ↑ 2 ↑ 3 4 2 3 4 5 ↑ 1 ↑ 2 ↑ 3 ↑ 4 5 3 4 5 6 n-1 ↗ 1 ↗ 2 ↗ 3 ↗ 4 3 4...

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... correspondence Robot Localization and Map Building3 04 5. 3D reconstruction results In system FRIEND II stereo vision provides 3D object pose information in various scenarios and two of them ... appoaches discussed in section 3. 3.1 and 3. 3.2. 3. 3 Constrained approaches for 3D point reconstruction If we know the stereo correspondence information for a 3D object point to be ca...

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... 99.18 16x16 – 8X8 donut 3. 09 99.7 7.56 99.68 24x24 – 8X8 donut 17. 03 99.65 16.68 85.59 24x24/2 spaced 3. 32 62.5 3. 96 92.76 32 x32/2 spaced 6.97 99.72 6 .37 99 .3 32 x32/4 spaced 2.81 99.86 3. 12 97.94 Table ... 21-26, pp. 2879-2884. You J. (20 03) Development of a home service robot ‘ISSAC’,” Proc. IEEE/RSJ IROS, pp. 2 630 -2 635 . Robot Localization and Map Building3 34 Al...

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... -6 93. 84 1 43. 34 162.08 1900.5 43 -7 133 .42 -686.855 433 .87 132 .65 2028.248 -7124.78 -844.925 281. 93 324.59 1759.955 -7 138 .48 -825.114 601.8 2 93. 74 1970.002 -7121. 13 -7 73. 602 34 8.47 234 .49 Floortexturevisualservousingmultiplecamerasformobile robot localization ... self -localization and mapping. Section III presents a detailed view of our approach with SIF...

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... Robot Localization and Map Building3 94 where (49) and (51)-( 53) were utilized. Based on (55) and (56), e(t ), ˜ q v (t), ˜ q 0 (t), ˜ z ∗ r1 (t) ∈ L ∞ and e(t), ˜ q v (t) ... − ˜ q T v ( ˜ q 0 I 3 + (1 − ˜ q 0 )I 3 ) K ω ˜ q v −e T K v e = − ˜ q T v K ω ˜ q v −e T K v e, (56) Robot Localization and Map Building3 96 Fig. 3. Geometric model for a moving camera, moving target and...

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