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Vision-based probabilistic state estimation for cooperating autonomous robots [Elektronische Ressource] / Thorsten Schmitt

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Fakult¨at fur¨ Informatikder Technischen Universit¨at Mu¨nchenLehrstuhl Prof. Dr. B. RadigVision-based Probabilistic State Estimationfor Cooperating Autonomous RobotsThorsten SchmittFakult¨at fur¨ Informatikder Technischen Universit¨at Mu¨nchenLehrstuhl Prof. Dr. B. RadigVision-based Probabilistic State Estimationfor Cooperating Autonomous RobotsThorsten SchmittVollst¨andiger Abdruck der von der Fakult¨at fur¨ Informatik der Technischen Universit¨atMunc¨ hen zur Erlangung des akademischen Grades einesDoktors der Naturwissenschaften (Dr. rer. nat.)genehmigten Dissertation.Vorsitzender: Univ.-Prof. Dr. rer. nat. R. WestermannPrufer¨ der Dissertation:1. Univ.-Prof. Dr. rer. nat. B. Radig2. Univ.-Prof. Dr. rer. nat. W. Burgard,Albert-Ludwigs-Universit¨at FreiburgDie Dissertation wurde am 27. 11. 2003 bei der Technischen Universit¨at Munc¨ hen eingereichtund durch die Fakult¨at fur¨ Informatik am 03. 05. 2004 angenommen.to the memory ofDr. Stefan Lanser∗ 11.02.1967† 21.01.1999AbstractWith the services that autonomous robots are to provide becoming more demanding, thestates that the robots have to estimate become more complex. In this thesis, a vision-based,probabilistic state estimation method for large and complex states is developed and appliedto autonomous mobile robot applications.The proposed method extends the state-of-the-art in state estimation in two importantways.

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Published 01 January 2004
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Language English
Document size 16 MB