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case1238689057.pdf (2.56 MB)
ETD Abstract Container
Abstract Header
Fast Template Matching For Vision-Based Localization
Author Info
Harper, Jason W.
Permalink:
http://rave.ohiolink.edu/etdc/view?acc_num=case1238689057
Abstract Details
Year and Degree
2009, Master of Sciences, Case Western Reserve University, EECS - Computer Engineering.
Abstract
This thesis presents a novel vision-based localization method that uses fast template-matching techniques with respect to regularly-spaced floor tiles to provide pose information. To accomplish the template matching, an edge map is created, transformed into Hough space and interpreted modulo the periodicity of the template. In this space, offsets relative to the periodicity of the floor tiles can be found. By separately tracking accumulation of periods, a global pose estimate can be determined that is immune to accumulation of incremental errors. The method is shown to be robust with respect to noise and distracter lines, and it also recognizes when a scene analysis is untrustworthy. The method is suitable for integration within a Kalman filter to contribute to improved localization.
Committee
Wyatt Newman (Advisor)
M. Cenk Cavusoglu (Committee Member)
Francis Merat (Other)
Pages
105 p.
Subject Headings
Artificial Intelligence
;
Robots
Keywords
machine vision
;
template matching
;
robot
;
localization
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Citations
Harper, J. W. (2009).
Fast Template Matching For Vision-Based Localization
[Master's thesis, Case Western Reserve University]. OhioLINK Electronic Theses and Dissertations Center. http://rave.ohiolink.edu/etdc/view?acc_num=case1238689057
APA Style (7th edition)
Harper, Jason.
Fast Template Matching For Vision-Based Localization.
2009. Case Western Reserve University, Master's thesis.
OhioLINK Electronic Theses and Dissertations Center
, http://rave.ohiolink.edu/etdc/view?acc_num=case1238689057.
MLA Style (8th edition)
Harper, Jason. "Fast Template Matching For Vision-Based Localization." Master's thesis, Case Western Reserve University, 2009. http://rave.ohiolink.edu/etdc/view?acc_num=case1238689057
Chicago Manual of Style (17th edition)
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Document number:
case1238689057
Download Count:
2,003
Copyright Info
© 2009, all rights reserved.
This open access ETD is published by Case Western Reserve University School of Graduate Studies and OhioLINK.