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Title: Mobile robot odometry module with image registration methods
Authors: Wang, Xian.
Keywords: DRNTU::Engineering::Electrical and electronic engineering
Issue Date: 2010
Abstract: This thesis addresses the problem of odometry data estimation using primarily the laser scanner as data input for mobile robot. That data can also be used for SLAM and navigation task. On some low cost mobile robots, inertial measuring units and odometry sensors are not available. The odometry module performs image registration task on scan images to estimate odometry information. The task becomes different from most image registration applications due to the laser scanning images that are composed with scatted dots, which cannot represent accurate edge position of obstacles.
Description: 109 p.
Schools: School of Electrical and Electronic Engineering 
Rights: Nanyang Technological University
Fulltext Permission: restricted
Fulltext Availability: With Fulltext
Appears in Collections:EEE Theses

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