Show/Hide Menu
Hide/Show Apps
anonymousUser
Logout
Türkçe
Türkçe
Search
Search
Login
Login
OpenMETU
OpenMETU
About
About
Open Science Policy
Open Science Policy
Frequently Asked Questions
Frequently Asked Questions
Browse
Browse
By Issue Date
By Issue Date
Authors
Authors
Titles
Titles
Subjects
Subjects
Communities & Collections
Communities & Collections
A low cost stereo based 3D slam for wearable applications
Download
index.pdf
Date
2010
Author
Şaka, Mustafa Yasin
Metadata
Show full item record
Item Usage Stats
4
views
0
downloads
A wearable robot should know its environment and its location in order to help its operator. Wearable robots are becoming more feasible with the development of more powerful and smaller computing devices and cameras. The main aim of this research is to build a wearable robot with a low cost stereo camera system which explores a room sized unknown environment online and automatically. To achieve 3D localization and map building for the wearable robot, a consistent visual-SLAM algorithm is implemented by using point features in the environment and Extended Kalman Filter for state estimation. The whole system includes camera models and calibration, feature extraction, depth measurement and Extended Kalman Filter algorithm. Moreover, a map management algorithm is developed. This algorithm keeps the number of features spatially uniform in the scene and adds new features when feature number decreases in a frame. Furthermore, a user-interface is presented so that the location of the camera,the features and the constructed map are visualized online. Most importantly, the system is conducted by a low-cost stereo system.
Subject Keywords
Electrical and electronics engineering.
,
Robots
URI
http://etd.lib.metu.edu.tr/upload/12612764/index.pdf
https://hdl.handle.net/11511/20284
Collections
Graduate School of Natural and Applied Sciences, Thesis