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dc.contributor.advisorSaranlı, Uluç
dc.contributor.authorYakın, İskender
dc.date.accessioned2016-01-08T18:17:45Z
dc.date.available2016-01-08T18:17:45Z
dc.date.issued2008
dc.identifier.urihttp://hdl.handle.net/11693/15381
dc.descriptionAnkara : The Department of Computer Engineering and the Institute of Engineering and Science of Bilkent University, 2008.en_US
dc.descriptionThesis (Master's) -- Bilkent University, 2008.en_US
dc.descriptionIncludes bibliographical references leaves 53-55.en_US
dc.description.abstractA mobile robot exploring an unknown environment often needs to keep track of its pose through its sensors. Range scan matching is a way of computing the pose difference of a robot at two different locations on the navigation path by finding common features observed in range sensor readings recorded at these locations. In this thesis, we introduce a new algorithm which computes this pose difference by matching common line segments extracted from two laser range scans taken from two different but unknown poses. In this algorithm, matching is performed by exploiting invariant geometric relations among line segments. The use of line segments instead of range points also reduces the computational complexity of determining the pose difference between two distinct scans. Compared to other scan matching algorithms, our method presents a powerful means for global scan matching, map building, place recognition, loop closing and multirobot mapping, all in real-time.en_US
dc.description.statementofresponsibilityYakın, İskenderen_US
dc.format.extentxi, 55 leaves, graphsen_US
dc.language.isoEnglishen_US
dc.rightsinfo:eu-repo/semantics/openAccessen_US
dc.subjectScan Matchingen_US
dc.subjectFeature extractionen_US
dc.subjectMappingen_US
dc.subjectLocalizationen_US
dc.subjectGeometric relationsen_US
dc.subjectLaser scan processingen_US
dc.subject.lccTA1677 .Y34 2008en_US
dc.subject.lcshLasers--Industrial applications.en_US
dc.subject.lcshMatching theory.en_US
dc.subject.lcshComputer algorithms.en_US
dc.titleLine segment based range scan matching without pose information for indoor environmentsen_US
dc.typeThesisen_US
dc.departmentDepartment of Computer Engineeringen_US
dc.publisherBilkent Universityen_US
dc.description.degreeM.S.en_US
dc.identifier.itemidBILKUTUPB109249


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