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Description
  • Tato práce se zaměřuje na zpracování dat z laserového skeneru vedoucí k relativní sebelokalizaci mobilního robotického systému. Je popsán lokalizační algoritmus implementovaný v Argosu, společně s každou jeho částí jako segmentace dat, nalezení význačných bodů a jejich porovnání, které je implementováno tak, že není potřeba žádná iterace. Vzorce pro výpočet nové pozice robota jsou uvedeny. Výsledky segmentace a sebelokalizace jsou ukázány na testovacích skenech. (cs)
  • This work focuses on proximity laser data processing leading to relative self-localization of mobile robotic system. Localization algorithm implemented in Argos is described, together with each of its part such as data segmentation, feature extraction and feature matching which is implemented in a manner that no iteration is needed. Formulas for calculating new position and orientation of the robotic system are stated in a vector form. Segmentation and self-localization results are shown on scans built for testing purposes.
  • This work focuses on proximity laser data processing leading to relative self-localization of mobile robotic system. Localization algorithm implemented in Argos is described, together with each of its part such as data segmentation, feature extraction and feature matching which is implemented in a manner that no iteration is needed. Formulas for calculating new position and orientation of the robotic system are stated in a vector form. Segmentation and self-localization results are shown on scans built for testing purposes. (en)
Title
  • Mobile Robot Localization Using Laser Scanner´s Data
  • Mobile Robot Localization Using Laser Scanner´s Data (en)
  • Lokalizace mobilního robota pomocí dat z laserového skeneru (cs)
skos:prefLabel
  • Mobile Robot Localization Using Laser Scanner´s Data
  • Mobile Robot Localization Using Laser Scanner´s Data (en)
  • Lokalizace mobilního robota pomocí dat z laserového skeneru (cs)
skos:notation
  • RIV/00216305:26220/06:PU59945!RIV07-MSM-26220___
http://linked.open.../vavai/riv/strany
  • 49-57
http://linked.open...avai/riv/aktivita
http://linked.open...avai/riv/aktivity
  • P(1M0567)
http://linked.open...vai/riv/dodaniDat
http://linked.open...aciTvurceVysledku
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http://linked.open...iv/duvernostUdaju
http://linked.open...titaPredkladatele
http://linked.open...dnocenehoVysledku
  • 486030
http://linked.open...ai/riv/idVysledku
  • RIV/00216305:26220/06:PU59945
http://linked.open...riv/jazykVysledku
http://linked.open.../riv/klicovaSlova
  • localization, scanner, segmentation (en)
http://linked.open.../riv/klicoveSlovo
http://linked.open...ontrolniKodProRIV
  • [17838E47BE33]
http://linked.open...v/mistoKonaniAkce
  • Katedra kybernetiky a umelej inteligencie, Fakul
http://linked.open...i/riv/mistoVydani
  • Košice
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  • Modern Trends in Control
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http://linked.open...vavai/riv/projekt
http://linked.open...UplatneniVysledku
http://linked.open...iv/tvurceVysledku
  • Dvorská, Jolana
http://linked.open...vavai/riv/typAkce
http://linked.open.../riv/zahajeniAkce
number of pages
http://purl.org/ne...btex#hasPublisher
  • Equilibria, s.r.o.
https://schema.org/isbn
  • 80-969224-6-7
http://localhost/t...ganizacniJednotka
  • 26220
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