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Statements

Subject Item
n2:RIV%2F68407700%3A21230%2F12%3A00212394%21RIV14-MSM-21230___
rdf:type
skos:Concept n8:Vysledek
rdfs:seeAlso
ftp://cmp.felk.cvut.cz/pub/cmp/articles/reinstein/Nouza-TR-2013-07.pdf
dcterms:description
The aim of this thesis is to analyze the state-of-the-art of the currently available cloud services used for online localization of mobile robots performing urban search and rescue missions. Based on this analysis, a robust algorithm for localization of the mobile robot developed as a part of the Natural human-robot cooperation in dynamic environments (NIFTi) project was implemented in the Robot Operating System (ROS). The localization includes mainly the trajectory information in global world coordinates as well as markers corresponding the detected objects of interest. The result is visualized in the online map application. To provide this localization algorithm with the suitable navigation data, a landmark based navigation algorithm was introduced. This relies on the computer vision and is based on the matching feature points between the actual camera view and the previously composed reference cloud of landmarks created locally (extension to the global navigation is discussed). For this purpose, the stateof-the-art techniques such as Structure from Motion, Speeded-Up Robust Features, and the Fast Approximate Nearest Neighbors were used. The aim of this thesis is to analyze the state-of-the-art of the currently available cloud services used for online localization of mobile robots performing urban search and rescue missions. Based on this analysis, a robust algorithm for localization of the mobile robot developed as a part of the Natural human-robot cooperation in dynamic environments (NIFTi) project was implemented in the Robot Operating System (ROS). The localization includes mainly the trajectory information in global world coordinates as well as markers corresponding the detected objects of interest. The result is visualized in the online map application. To provide this localization algorithm with the suitable navigation data, a landmark based navigation algorithm was introduced. This relies on the computer vision and is based on the matching feature points between the actual camera view and the previously composed reference cloud of landmarks created locally (extension to the global navigation is discussed). For this purpose, the stateof-the-art techniques such as Structure from Motion, Speeded-Up Robust Features, and the Fast Approximate Nearest Neighbors were used.
dcterms:title
Localization of mobile robots for exploration using cloud services Localization of mobile robots for exploration using cloud services
skos:prefLabel
Localization of mobile robots for exploration using cloud services Localization of mobile robots for exploration using cloud services
skos:notation
RIV/68407700:21230/12:00212394!RIV14-MSM-21230___
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n10:orjk%3A21230
n3:aktivita
n11:P
n3:aktivity
P(7E10044)
n3:dodaniDat
n6:2014
n3:domaciTvurceVysledku
n13:1409832 n13:8140634
n3:druhVysledku
n17:O
n3:duvernostUdaju
n19:S
n3:entitaPredkladatele
n9:predkladatel
n3:idSjednocenehoVysledku
147327
n3:idVysledku
RIV/68407700:21230/12:00212394
n3:jazykVysledku
n16:eng
n3:klicovaSlova
mobile robot; navigation; cloud services; SURF
n3:klicoveSlovo
n14:cloud%20services n14:navigation n14:SURF n14:mobile%20robot
n3:kontrolniKodProRIV
[B8AF74370DAE]
n3:obor
n12:JD
n3:pocetDomacichTvurcuVysledku
2
n3:pocetTvurcuVysledku
2
n3:projekt
n18:7E10044
n3:rokUplatneniVysledku
n6:2012
n3:tvurceVysledku
Nouza, Tomáš Reinštein, Michal
n15:organizacniJednotka
21230