TobiasDeutsch.com Blog Site - blog until u lock

TobiasDeutsch.com Blog Site
blog until u lock

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Diploma Thesis 3

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Category: Diploma Thesis		Submitted by: tobias
diploma thesis presentation
powerpoint presentation for the speech during the final exam
		Ver: Date: Mar.14.07 Rating: 0.00 271 679.88 KB
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Category: Diploma Thesis		Submitted by: tobias
Geometric World Model Repository and Localization for Autonomous Mobile Robots
Soccer robots - which are the test-bed for this thesis - have to be able to localize themselves in a given environment. This environment consists of static elements (borders, goals) and dynamic entities (the ball, soccer robots). The dynamic entities change their position but not their shape during game play. Each soccer robot is equipped with a vision system, distance sensors, odometry, and a compass. The geometric world model repository (WMR) processes the perceived sensor information and stores the results. These are the self-position estimate generated by the self-localization subsystem and information on the other robots and the ball as perceived by the vision system. A simple and a complex approach to the WMR and the self-localization have been implemented. The simple approach consists of a reduced WMR (the dynamic entities are reduced to points) and a self-localization sub-system based on a linear least squares filter. The complex approach treats all static elements and dynamic entities as polygons. The complex self-localization subsystem is based on a Particle filter.
		Ver: Date: Mar.05.07 Rating: 0.00 281 2.13 MB
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Category: Diploma Thesis		Submitted by: tobias
Poster
Poster
		Ver: Date: Mar.05.07 Rating: 0.00 196 913.51 KB
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