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Identifier uch.csd.phd//1999lourakis
Title Navigation of Autonomous Robotic Systems Based on the Analysis of Visual Motion
Alternative Title Πλοήγηση Αυτόνομων Ρομποτικών Συστημάτων με Βάση την Ανάλυση Κίνησης
Author Λουράκης, Μανόλης Ι.Α
Thesis advisor Ορφανουδάκης, Στέλιος, 1948-2005
Abstract This dissertation is concerned with the study of visual motion perception with application to the navigation of autonomous robotic systems. Four visual capabilities, namely independent motion detection, egomotion estimation, obstacle detection and time-to-contact estimation are investigated, and novel corresponding algorithms are proposed. Special care has been taken to develop algorithms that avoid making restrictive assumptions which limit their applicability, are robust to noise and rely on simple representations that do not require the recovery of redundant information. Each of the developed techniques deals with a well defined goal and does not depend critically on the environment, thus it can function as a generic navigational tool for various practical applications. Experimental results from the application of the proposed algorithms on real imagery and synthetic data are also presented and discussed.
Language English
Issue date 1999-03-01
Collection   School/Department--School of Sciences and Engineering--Department of Computer Science--Doctoral theses
  Type of Work--Doctoral theses
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