Self location of vision guided autonomous mobile robots.

Lau Ah Wai, Calvin.
Thesis (M.Phil.)--Chinese University of Hong Kong, 2000.
Includes bibliographical references (leaves 108-111).
s in English and Chinese.
Chapter 1 --- Introduction --- p.1
Chapter 1.1 --- An Overview --- p.4
Chapter 1.1.1 --- Robot Self Location --- p.4
Chapter 1.1.2 --- Robot Navigation --- p.10
Chapter 1.2 --- Scope of Thesis --- p.12
Chapter 2 --- Theory --- p.13
Chapter 2.1 --- Coordinate Systems Transformations --- p.13
Chapter 2.2 --- Problem Specification --- p.21
Chapter 2.3 --- The Process of Stereo Vision --- p.22
Chapter 2.3.1 --- Disparity and Depth --- p.22
Chapter 2.3.2 --- Vertical Edge Detection and Extraction --- p.25
Chapter 2.3.3 --- Line Matching Using Dynamic Programming --- p.27
Chapter 3 --- Mobile Robot Self Location --- p.29
Chapter 3.1 --- Physical Points by Stereo Reconstruction --- p.29
Chapter 3.1.1 --- Physical Points Refinement --- p.32
Chapter 3.2 --- Motion Uncertainties Modeling --- p.33
Chapter 3.3 --- Improved Physical Point Estimations by EKF --- p.36
Chapter 3.4 --- Matching Physical Points to Model by Geometric Hashing --- p.40
Chapter 3.4.1 --- Similarity Invariant --- p.44
Chapter 3.5 --- Initial Pose Estimation --- p.47
Chapter 3.5.1 --- Initial Pose Refinement --- p.50
Chapter 3.6 --- Self Location Using Other Camera Combinations --- p.50
Chapter 4 --- Improvements to Self Location Using Bayesian Inference --- p.55
Chapter 4.1 --- Statistical Characteristics of Edges --- p.57
Chapter 4.2 --- Evidence at One Pixel --- p.60
Chapter 4.3 --- Evidence Over All Pixels --- p.62
Chapter 4.4 --- A Simplification Of Geometric Hashing --- p.62
Chapter 4.4.1 --- Simplification of The Similarity Invariant --- p.63
Chapter 4.4.2 --- Translation Invariant --- p.63
Chapter 4.4.3 --- Simplification to The Hashing Table --- p.65
Chapter 5 --- Robot Navigation --- p.67
Chapter 5.1 --- Propagation of Motion Uncertainties to Estimated Pose --- p.68
Chapter 5.2 --- Expectation Map Derived from the CAD Model --- p.70
Chapter 6 --- Experimental Results --- p.74
Chapter 6.1 --- Results Using Simulated Environment --- p.74
Chapter 6.1.1 --- Results and Error Analysis --- p.75
Chapter 6.2 --- Results Using Real Environment --- p.85
Chapter 6.2.1 --- Camera Calibration Using Tsai's Algorithm --- p.85
Chapter 6.2.2 --- Pose Estimation By Geometric Hashing --- p.88
Chapter 6.2.3 --- Pose Estimation by Bayesian Inference and Geometric Hash- ing --- p.90
Chapter 6.2.4 --- Comparison of Self Location Approaches --- p.92
Chapter 6.2.5 --- Motion Tracking --- p.93
Chapter 7 --- Conclusion and Discussion --- p.95
Chapter 7.1 --- Conclusion and Discussion --- p.95
Chapter 7.2 --- Contributions --- p.97
Chapter 7.3 --- Subjects for Future Research --- p.98
Chapter A --- Appendix --- p.100
Chapter A.1 --- Extended Kalman Filter --- p.100
Chapter A.2 --- Visualizing Uncertainty for 2D Points --- p.105
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