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Localization of RGB-D Sensors for Robotic and AR Applications

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posted on 19.12.2019, 03:21 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.


Campus location


Principal supervisor

Thomas William Drummond

Year of Award


Department, School or Centre

Electrical and Computer Systems Engineering


Master of Engineering Science (Research)

Degree Type


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