Doctoral theses
Current Record: 114 of 121
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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
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Λουράκης, Μανόλης Ι.Α
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Thesis advisor
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Ορφανουδάκης, Στέλιος, 1948-2005
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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.
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Language |
English |
Issue date |
1999-03-01 |
Collection
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School/Department--School of Sciences and Engineering--Department of Computer Science--Doctoral theses
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Type of Work--Doctoral theses
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Permanent Link |
https://elocus.lib.uoc.gr//dlib/5/b/a/metadata-dlib-1999lourakis.tkl
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Views |
587 |