dc.contributor.advisor | Saranlı, Uluç | |
dc.contributor.author | Yakın, İskender | |
dc.date.accessioned | 2016-01-08T18:17:45Z | |
dc.date.available | 2016-01-08T18:17:45Z | |
dc.date.issued | 2008 | |
dc.identifier.uri | http://hdl.handle.net/11693/15381 | |
dc.description | Ankara : The Department of Computer Engineering and the Institute of Engineering and Science of Bilkent University, 2008. | en_US |
dc.description | Thesis (Master's) -- Bilkent University, 2008. | en_US |
dc.description | Includes bibliographical references leaves 53-55. | en_US |
dc.description.abstract | A 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.statementofresponsibility | Yakın, İskender | en_US |
dc.format.extent | xi, 55 leaves, graphs | en_US |
dc.language.iso | English | en_US |
dc.rights | info:eu-repo/semantics/openAccess | en_US |
dc.subject | Scan Matching | en_US |
dc.subject | Feature extraction | en_US |
dc.subject | Mapping | en_US |
dc.subject | Localization | en_US |
dc.subject | Geometric relations | en_US |
dc.subject | Laser scan processing | en_US |
dc.subject.lcc | TA1677 .Y34 2008 | en_US |
dc.subject.lcsh | Lasers--Industrial applications. | en_US |
dc.subject.lcsh | Matching theory. | en_US |
dc.subject.lcsh | Computer algorithms. | en_US |
dc.title | Line segment based range scan matching without pose information for indoor environments | en_US |
dc.type | Thesis | en_US |
dc.department | Department of Computer Engineering | en_US |
dc.publisher | Bilkent University | en_US |
dc.description.degree | M.S. | en_US |
dc.identifier.itemid | BILKUTUPB109249 | |