Self-Localization and terrain classification for mobile outdoor robots:
Gespeichert in:
| Beteilige Person: | |
|---|---|
| Format: | Hochschulschrift/Dissertation Buch |
| Sprache: | Englisch |
| Veröffentlicht: |
München
Verl. Dr. Hut
2009
|
| Ausgabe: | 1. Aufl. |
| Schriftenreihe: | Informatik
|
| Schlagwörter: | |
| Links: | http://bvbr.bib-bvb.de:8991/F?func=service&doc_library=BVB01&local_base=BVB01&doc_number=017311174&sequence=000001&line_number=0001&func_code=DB_RECORDS&service_type=MEDIA |
| Umfang: | X, 151 S. Ill., graph. Darst. 210 mm x 148 mm, 256 gr. |
| ISBN: | 9783899639506 |
Internformat
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| 100 | 1 | |a Weiss, Christian |e Verfasser |4 aut | |
| 245 | 1 | 0 | |a Self-Localization and terrain classification for mobile outdoor robots |c Christian Weiss |
| 250 | |a 1. Aufl. | ||
| 264 | 1 | |a München |b Verl. Dr. Hut |c 2009 | |
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| 490 | 0 | |a Informatik | |
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Datensatz im Suchindex
| DE-BY-TUM_call_number | 0102 DAT 815d 2010 A 1762 |
|---|---|
| DE-BY-TUM_katkey | 1722422 |
| DE-BY-TUM_location | 01 |
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| _version_ | 1821934818781298688 |
| adam_text | CONTENTS 1 INTRODUCTION 1 1.1 EXPERIMENTAL PLATFORM 3 1.2 CONTRIBUTIONS
5 1.3 THESIS OUTLINE 6 2 VISION-BASED SELF-LOCALIZATION FOR MOBILE
OUTDOOR ROBOTS 7 2.1 VISION-BASED SELF-LOCALIZATION FOR OUTDOOR ROBOTS 8
2.2 RELATEDWORK 10 2.3 SELF-LOCALIZATION USING PARTICLE FILTERS 13 2.3.1
BAYES FILTERING 14 2.3.2 APPROXIMATION BY PARTICLE FILTERS 15 3 OUTDOOR
SELF-LOCALIZATION USING LOCAL IMAGE FEATURES 17 3.1 METHOD OVERVIEW 18
3.2 SCALE INVARIANT FEATURE TRANSFONN 18 3.2.1 SCALE-SPACE CONSTRUCTION
19 3.2.2 SCALE-SPACE EXTREMA DETECTION 20 3.2.3 ORIENTATION ASSIGNMENT
22 3.2.4 KEYPOINT DESCRIPTOR 22 3.3 IMAGE SIMILARITIES 23 3.3.1 KEYPOINT
MATCHING 24 3.3.2 DELETINGNOISY DESCRIPTORS 25 3.4 PARTICLE FILTER FOR
SIFT-BASED SELF-LOCALIZATION 25 3.5 SUMMARY 27 4 OUTDOOR
SELF-LOCALIZATION USING GLOBAL IMAGE FEATURES 29 4.1 METHOD OVERVIEW 29
4.2 WEIGHTED GRADIENT ORIENTALION HISTOGRAMS 30 4.3 WEIGHTED GRID
INTEGRAL INVARIANTS 31 4.3.1 GLOBAL INTEGRAL INVARIANTS 31
BIBLIOGRAFISCHE INFORMATIONEN HTTP://D-NB.INFO/992892309 DIGITALISIERT
DURCH CONTENTS 4.3.2 WEIGHTED GRID INTEGRAL INVARIANTS 34 4.4 IMAGE
SIMILARITIES 36 4.5 PARTICLE FILTER FOR SELF-LOCALIZATION BASED ON
GLOBAL IMAGE FEATURES ... 37 4.6 RESULTS 38 4.7 SUMMARY 43 5 HYBRID
SELF-LOCALIZATION USING GLOBAL AND LOCAL IMAGE FEATURES 45 5.1 METHOD
OVERVIEW 45 5.2 GLOBAL AND LOCAL IMAGE FEATURES 46 5.3 PARTICLE FILTER
FOR HYBRID VISUAL SELF-LOCALIZATION 47 5.4 FEATURE SELECTION 48 5.5
RESULTS 50 5.6 SUMMARY 53 6 TERRAIN CLASSIFICATION 55 6.1 SENSORS FOR
TERRAIN CLASSIFICATION 56 6.2 RELATEDWORK 57 6.2.1 LASER RANGE FINDERS
57 6.2.2 CAMERAS 59 6.2.3 VIBRATION SENSORS 61 6.2.4 OTHERTYPESOF
SENSORS 62 6.3 PATTEMRECOGNITION USING SVMS 62 6.3.1 PATTEMRECOGNITION
63 6.3.2 SUPPORT VECTOR MACHINES 64 6.3.3 MULTI-CLASS SUPPORT VECTOR
MACHINES 69 6.3.4 MODEL SELECTION 69 6.4 PRINCIPAL COMPONENT ANALYSIS 70
6.5 SUMMARY 71 7 VIBRATION-BASED TERRAIN CLASSIFICATION USING SVMS 73
7.1 METHOD OVERVIEW 73 7.2 DATA ACQUISITION 75 7.3 FEATURE EXTRACTION 77
7.3.1 FFT-BASED FEATURES 77 7.3.2 PSD-BASED FEATURES 80 7.3.3 COMBINING
MEASUREMENT DIRECTIONS 83 7.4 CLASSIFICATION USING SUPPORT VECTOR
MACHINES 84 7.5 USING ODOMETRY TO IMPROVE THE ROBUSTNESS TO CHANGING
VELOCITIES. ... 85 7.6 RESULTS 86 CONTENTS 7.6.1 CLASSIFICATION RESULTS
ON DIFFERENT TYPES OF VIBRATIONS 87 7.6.2 COMBINATION OF DIFFERENT
VIBRATIONS 93 7.6.3 DEPENDENCE ON DIFFERENT PARAMETERS 95 7.6.4
INCORPORARING ODOMETRY 97 7.7 SUMMARY 97 8 COMPARISONOF VIBRATION-BASED
TERRAIN CLASSIFICATION APPROACHES 99 8.1 METHOD OVERVIEW 99 8.2 TERRAIN
CLASSIFICATION METHODS 100 8.2.1 PROBABILISTIC NEURAL NETWORKS 100 8.2.2
LINEAR DISCRIMINANT ANALYSIS 102 8.2.3 DECISION TREES 104 8.2.4 NAIVE
BAYES 105 8.2.5 K-NEAREST-NEIGHBOR 106 8.3 RESULTS 106 8.4 SUMMARY HL 9
VISION-BASED TERRAIN CLASSIFICATION USING INTEGRAL INVARIANTS 113 9.1
METHOD OVERVIEW 113 9.2 IMAGE FEATURE EXTRACTION 116 9.2.1 INTEGRAL
INVARIANTS 116 9.2.2 COLOR HISTOGRAMS 116 9.3 CLASSIFICATION USING
SUPPORT VECTOR MACHINES 117 9.4 RESULTS 118 9.5 SUMMARY 120 10 COMBINING
VISION-AND VIBRATION-BASED TERRAIN CLASSIFICATION 121 10.1 METHOD
OVERVIEW 122 10.2 FUSION OF VISION AND VIBRATION 122 10.2.1 FUSION
OFTHEPREDICTIONS 123 10.2.2 FINDING CORRESPONDING TERRAIN SEGMENTS 124
10.3 RESULTS 125 10.3.1 RESULTS ON SIX TERRAIN OASSES 125 10.3.2 RESULTS
ON 14 TERRAIN CLASSES 128 10.4 SUMMARY 131 11 SUMMARY AND OUTLOOK 133
|
| any_adam_object | 1 |
| author | Weiss, Christian |
| author_facet | Weiss, Christian |
| author_role | aut |
| author_sort | Weiss, Christian |
| author_variant | c w cw |
| building | Verbundindex |
| bvnumber | BV035390385 |
| classification_rvk | ST 308 |
| classification_tum | DAT 700d DAT 815d DAT 776d |
| ctrlnum | (OCoLC)644041966 (DE-599)DNB992892309 |
| dewey-full | 629.892 |
| dewey-hundreds | 600 - Technology (Applied sciences) |
| dewey-ones | 629 - Other branches of engineering |
| dewey-raw | 629.892 |
| dewey-search | 629.892 |
| dewey-sort | 3629.892 |
| dewey-tens | 620 - Engineering and allied operations |
| discipline | Maschinenbau / Maschinenwesen Informatik Mess-/Steuerungs-/Regelungs-/Automatisierungstechnik / Mechatronik |
| edition | 1. Aufl. |
| format | Thesis Book |
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| genre_facet | Hochschulschrift |
| id | DE-604.BV035390385 |
| illustrated | Illustrated |
| indexdate | 2024-12-20T13:31:24Z |
| institution | BVB |
| isbn | 9783899639506 |
| language | English |
| oai_aleph_id | oai:aleph.bib-bvb.de:BVB01-017311174 |
| oclc_num | 644041966 |
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| owner_facet | DE-12 DE-473 DE-BY-UBG DE-91G DE-BY-TUM |
| physical | X, 151 S. Ill., graph. Darst. 210 mm x 148 mm, 256 gr. |
| publishDate | 2009 |
| publishDateSearch | 2009 |
| publishDateSort | 2009 |
| publisher | Verl. Dr. Hut |
| record_format | marc |
| series2 | Informatik |
| spellingShingle | Weiss, Christian Self-Localization and terrain classification for mobile outdoor robots Autonomer Roboter (DE-588)4304075-5 gnd Support-Vektor-Maschine (DE-588)4505517-8 gnd Lokalisierung Robotik (DE-588)7569134-6 gnd Vibrationssensor (DE-588)4520243-6 gnd Bildverstehen (DE-588)4202022-0 gnd Gelände (DE-588)4019869-8 gnd |
| subject_GND | (DE-588)4304075-5 (DE-588)4505517-8 (DE-588)7569134-6 (DE-588)4520243-6 (DE-588)4202022-0 (DE-588)4019869-8 (DE-588)4113937-9 |
| title | Self-Localization and terrain classification for mobile outdoor robots |
| title_auth | Self-Localization and terrain classification for mobile outdoor robots |
| title_exact_search | Self-Localization and terrain classification for mobile outdoor robots |
| title_full | Self-Localization and terrain classification for mobile outdoor robots Christian Weiss |
| title_fullStr | Self-Localization and terrain classification for mobile outdoor robots Christian Weiss |
| title_full_unstemmed | Self-Localization and terrain classification for mobile outdoor robots Christian Weiss |
| title_short | Self-Localization and terrain classification for mobile outdoor robots |
| title_sort | self localization and terrain classification for mobile outdoor robots |
| topic | Autonomer Roboter (DE-588)4304075-5 gnd Support-Vektor-Maschine (DE-588)4505517-8 gnd Lokalisierung Robotik (DE-588)7569134-6 gnd Vibrationssensor (DE-588)4520243-6 gnd Bildverstehen (DE-588)4202022-0 gnd Gelände (DE-588)4019869-8 gnd |
| topic_facet | Autonomer Roboter Support-Vektor-Maschine Lokalisierung Robotik Vibrationssensor Bildverstehen Gelände Hochschulschrift |
| url | http://bvbr.bib-bvb.de:8991/F?func=service&doc_library=BVB01&local_base=BVB01&doc_number=017311174&sequence=000001&line_number=0001&func_code=DB_RECORDS&service_type=MEDIA |
| work_keys_str_mv | AT weisschristian selflocalizationandterrainclassificationformobileoutdoorrobots |
Inhaltsverzeichnis
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Teilbibliothek Mathematik & Informatik
| Signatur: |
0102 DAT 815d 2010 A 1762
Lageplan |
|---|---|
| Exemplar 1 | Ausleihbar Am Standort |