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Diploma thesis:OpenStreetMap for Mobile Robotics ( PDF )
Author:Rakovec Martin
Supervisor:Ing. Tomáš Krajník Ph.D.
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Abstract:The thesis deals with problem of map-based mobile robot navigation in the outdoor environment. For this purpose we use the map OpenStreetMap format, together with SurfNav package. In our work we try to extend this OSM format for data that can be used for robot navigation. We focus on salient image features from robot outdoor camera image detected with the aid of Speeded Up Robust Feature(SURF) clustering these features results in map size reduction, which allows to use OSM format. Main benefit of our work is SURF descriptor clustering. We try to use only cluster centroids for mobile robot navigation. The modifications to the SurfNav software are experimentally verified.
Submited:May 2011
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