Thesis icon

Thesis

Experience based navigation : theory, practice and implementation

Abstract:

For robotic systems to realise lifelong autonomy they must be able to navigate accurately in changing environments. In this thesis we describe, implement and validate a new approach to the problem of long-term navigation.

To begin, we present our stereo visual odometry system which provides highly accurate pose estimation. Our approach combines several techniques found in existing implementations and a recently published image descriptor that simplifies the solution architecture. Th...

Expand abstract

Actions


Access Document


Files:

Authors


More by this author
Institution:
University of Oxford
Oxford college:
St John's College
Department:
Mathematical,Physical & Life Sciences Division - Engineering Science
Role:
Author

Contributors

Role:
Supervisor
Publication date:
2012
Type of award:
DPhil
Level of award:
Doctoral
URN:
uuid:729f7487-4a48-4886-938f-058daa4ade89
Local pid:
ora:6857
Language:
English
Keywords:
Subjects:

Terms of use


Metrics


Views and Downloads






If you are the owner of this record, you can report an update to it here: Report update to this record

TO TOP