Search for dissertations about: "scan-matching"

Found 4 swedish dissertations containing the word scan-matching.

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

    Author : Ola Bengtsson; Christian Schlegel; Chalmers tekniska högskola Göteborg; []
    Keywords : 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;

    Abstract : 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. READ MORE

  4. 2. Self-localization of mobile robots in dynamic indoor environments / Ola Bengtsson %C Göteborg

    Author : Ola Bengtsson; Chalmers tekniska högskola; []
    Keywords : NATURVETENSKAP; NATURAL SCIENCES; self-localization; scan-matching; uncertainty of match result; covariance matrix; mobile robots; dynamic environments;

    Abstract : .... READ MORE

  5. 3. 3D Scan Matching for Mobile Robots with Application to Mine Mapping : Licentiate Thesis

    Author : Martin Magnusson; Örebro universitet; []
    Keywords : NATURVETENSKAP; NATURAL SCIENCES; Computer science; Datavetenskap;

    Abstract : 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. READ MORE

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

    Author : Paul Sundvall; Bo Wahlberg; Patric Jensfelt; Fredrik Gustafsson; KTH; []
    Keywords : ;

    Abstract : 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. READ MORE