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Localization of RGB-D Sensors for Robotic and AR Applications

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thesis
posted on 19.12.2019 by NALIKA DAMAYANTHI NAHINNAGE DONA
Robot localization problem has been addressed using variety of methods such as ultrasonic, laser range sensors, beacons, landmark based methods and map-based approaches. This research describes a vision based localization approach using low cost, information rich RGB-D cameras which localizes a moving RGB-D camera relative to another static RGB-D camera in the environment. The features extracted from overlapped images of two cameras are matched and fed through an iterative non-linear pose estimation algorithm to obtain the relative pose of the moving camera. Experiments and analysis show similar or improved accuracy compared to other localization methods and datasets.

History

Campus location

Australia

Principal supervisor

Thomas William Drummond

Year of Award

2019

Department, School or Centre

Electrical and Computer Systems Engineering

Course

Master of Engineering Science (Research)

Degree Type

RESEARCH_MASTERS

Exports

Exports