Performance comparison of point and plane features for SLAM /

Yörük, Mücahit
Simultaneous Localization and Mapping (SLAM) is an indispensable capability for mobile robots that explore unknown environments. This advanced method is now widely employed since the development of improvements in sensor technology, such as 3D depth cameras. To avoid the risk of the human interaction in dangerous environments, various SLAM algorithms have been developed and proposed in the literature. The aim of this study, is to develop a landmark vector that improves the SLAM performance using the planar features of objects. In order to achieve this goal we generated a fastSLAM algorithm and two different feature extraction methods. The first feature extraction method is SURF, which gives responses at the edges of the depth images and the second feature extraction method is plane detection, which gives a compact representation of the environment. Throughout this thesis, four different landmark vectors are defined (SURF point, plane as point, plane as oriented point and plane as surface) and compared the effects on the SLAM. The advantages of using planar features are shown with both the RGBD SLAM dataset and the real time application.


Development of a visual object localization module for mobile robots
Şahin, Erol (1999-01-01)
Reports preliminary results from the design and implementation of a visual object localization module for mobile robots. The module takes an object-based approach to visual processing and relies on a preprocessing step that segments objects from the image. By tracking the size and the eccentricity of the objects in the image while the robot is moving, the visual object localization module can determine the position of objects relative to the robot using the displacement obtained from its odometry. In locali...
Global urban localization of an outdoor mobile robot with genetic algorithms
DOĞRUER, CAN ULAŞ; Koku, Ahmet Buğra; Dölen, Melik (2008-02-26)
The localization of mobile robots has been studied rigorously in the past. However, only a few studies have focused on developing specific Genetic Algorithms (GAs) to address the localization problem effectively. In this study; the global urban localization of an outdoor mobile platform is considered with the utilization of the odometer, the laser-rangeq finder measurements and the digital maps created from the relevant satellite images on the Internet. The localization issue is formulated as a constrained ...
Performance Evaluation of the Grid-based FastSLAM in V-RFP Using MATLAB
Azak, Salim (2018-02-24)
This paper presents a Simultaneous Localization and Mapping (SLAM) application that is developed in V-REP robot simulation program by using Grid-Based FastSLAM method. In this work, the SLAM problem in an unknown indoor environment is solved with the Pioneer 3 DX mobile robot equipped with a laser range finder. Control scripts are developed in the Lua and FastSLAM scripts using MATLAB that is linked to the simulation platform by means of the Remote API feature of the V-REP. In order to evaluate of the perfo...
Map merging for multi robot SLAM /
Karadeniz, Orhan; Ulusoy, İlkay; Department of Electrical and Electronics Engineering (2014)
In the area of mobile robotics Simultaneous Localization and Mapping (SLAM) is a challenging problem. In the literature, there are many solutions to this problem for single robots. However, multi-robot SLAM is a relatively new topic, which has additional issues, such as communication, task sharing and map merging. This thesis takes map merging as its focus and this is examined in terms of the specifications for the unknown initial positions of robots. In the map-merging scenario, every robot localizes itsel...
Performance Evaluation of Different Real-Time Motion Controller Topologies Implemented on a FPGA
MUTLU, B. R.; Yaman, Ulaş; Dölen, Melik; Koku, Ahmet Buğra (2009-11-18)
This paper presents a comprehensive comparison of several real-time motion controller topologies implemented on a field programmable gate array (FPGA). Controller topologies are selected as proportional-integral-derivative controller with command feedforward, sliding mode controller, fuzzy controller, and a hysteresis controller. Controllers and other necessary modules are developed using Verilog HDL and they are implemented on a ML505 development board with a Xilinx Virtex-5 FPGA chip. In order to take ful...
Citation Formats
M. Yörük, “Performance comparison of point and plane features for SLAM /,” M.S. - Master of Science, Middle East Technical University, 2014.