Sökning: "Scan matching algorithm"

Hittade 5 avhandlingar innehållade orden Scan matching algorithm.

  1. 1. Robust self-localization of mobile robots in dynamic environments using scan matching algorithms

    Författare :Ola Bengtsson; Christian Schlegel; Chalmers tekniska högskola Göteborg; []
    Nyckelord :TEKNIK OCH TEKNOLOGIER; ENGINEERING AND TECHNOLOGY; TEKNIK OCH TEKNOLOGIER; ENGINEERING AND TECHNOLOGY; Mobile robot; Self-localization; Scan matching algorithm; Changed environments; Dynamic environments; o-variance matrix; Kalman filter; Signal processing; Signalbehandling;

    Sammanfattning : The most fundamental task for any mobile robot is to perform self-localization in the world in which it is currently active, i.e. determine its position relative its world. Encoders that count wheel rotations are often used, which can be turned into relative position estimates by mean of integration. LÄS MER

  3. 2. 3D Scan Matching for Mobile Robots with Application to Mine Mapping : Licentiate Thesis

    Författare :Martin Magnusson; Örebro universitet; []
    Nyckelord :NATURVETENSKAP; NATURAL SCIENCES; Computer science; Datavetenskap;

    Sammanfattning : This thesis is concerned with three-dimensional scan registration, in particular of underground mine tunnels. Registration of partial range scans is an essential part of building 3D maps, and autonomous creation of reliable maps is a first step towards autonomous mining vehicles. LÄS MER

  4. 3. Next Generation Wideband Antenna Arrays for Communications and Radio Astrophysics

    Författare :Christos Kolitsidas; Lars Jonsson; Christophe Craeye; KTH; []
    Nyckelord :TEKNIK OCH TEKNOLOGIER; ENGINEERING AND TECHNOLOGY; array figure of merit; fundamental limits; wideband array; wide scan-angle array; strongly coupled asymmetric dipole array; periodic loading; soft Vivaldi array; 21cm Cosmology; Epoch of Reionization; Electrical Engineering; Elektro- och systemteknik;

    Sammanfattning : Wideband, wide-scan antenna arrays are a promising candidate for the future wireless networks and as well as an essential part of experimental radio astrophysics. Understanding the underline physics of the element performance in the array environment is paramount to develop and improve the performance of array systems. LÄS MER

  5. 4. Mobile robot fault detection using multiple localization modules

    Författare :Paul Sundvall; Bo Wahlberg; Patric Jensfelt; Fredrik Gustafsson; KTH; []
    Nyckelord :;

    Sammanfattning : Most applications in service robotics require that the position of the robot is accurately known. Faults affecting the localization system can thus have serious effects on the overall performance. LÄS MER

  7. 5. Robust LIDAR-Based Localization in Underground Mines

    Författare :Kristin Nielsen; Gustaf Hendeby; Fredrik Gustafsson; John Folkesson; Linköpings universitet; []
    Nyckelord :TEKNIK OCH TEKNOLOGIER; ENGINEERING AND TECHNOLOGY;

    Sammanfattning : The mining industry is currently facing a transition from manually operated vehicles to remote or semi-automated vehicles. The vision is fully autonomous vehicles being part of a larger fleet, with humans only setting high-level goals for the autonomous fleet to execute in an optimal way. LÄS MER