Aplikace metody zarovnání snímků lidaru pro lokalizaci autonomního robotu

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ANT0012_FEI_N2649_3901T009_2014.pdf (3.1 MB)
ANT0012_FEI_N2649_3901T009_2014_posudek_vedouci_Konecny_Jaromir.pdf (49.51 KB)
ANT0012_FEI_N2649_3901T009_2014_posudek_oponent_Konecny_Kamil.pdf (48.55 KB)

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10

Date issued

2014

Authors

Antecký, Jiří

Journal Title

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Volume Title

Publisher

Vysoká škola báňská - Technická univerzita Ostrava

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Abstract

The following master thesis is dealing with the implementation of ICP algorithm, which is used for localization of autonomous robot in real environment during movement. Master thesis the first describe the most common algorithms, which are used for laser scans aligning. The next step of master thesis is to create mathematical model of ICP algorithm. To realization of this program is used Matlab program. The last part of master thesis is to create a program for on-line deployment and testing them on real data sets get by LMS SICK 100 laser scanner. For program realization is used C# programming language.

Description

Import 05/08/2014

Subject(s)

Aligning, localization, algorithm, ICP, laser scanner, LMS SICK 100, Matlab, C#

Citation

Item identifier

http://hdl.handle.net/10084/103793

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Vysokoškolské kvalifikační práce Fakulty elektrotechniky a informatiky / Theses and dissertations of Faculty of Electrical Engineering and Computer Science (FEI)