Appearance based self localization and navigation using place memory
| dc.contributor | Graduate Program in Electrical and Electronic Engineering. | |
| dc.contributor.advisor | Bozma, H. Işıl. | |
| dc.contributor.author | Yel, Esen. | |
| dc.date.accessioned | 2023-03-16T10:19:00Z | |
| dc.date.available | 2023-03-16T10:19:00Z | |
| dc.date.issued | 2016. | |
| dc.description.abstract | This thesis is concerned with appearance based self-localization and navigation. First, we assume a place-aware robot. Such a robot can recognize a place (i.e. a particular room etc.) after having learned it based on a collection of appearances. A novel approach to self-localization is presented in this framework. In this approach, all the respective learned appearances contribute simultaneously to the location estimation - assuming them to be tagged with their respective locations during learning. With the extensive set of experiments, it is shown that the proposed approach can be used as a solution to mobile robot self-localization. Secondly, we introduce a novel approach in which the robot couples place awareness and self-localization. The robot rst recognizes the place and then uses the retrieved appearances from its place memory. Experimental results demonstrate the advantages of coupling place awareness and self-localization. Lastly, the proposed approach is considered in appearance-based navigation. | |
| dc.format.extent | 30 cm. | |
| dc.format.pages | xiv, 67 leaves ; | |
| dc.identifier.other | EE 2016 Y46 | |
| dc.identifier.uri | https://digitalarchive.library.bogazici.edu.tr/handle/123456789/12899 | |
| dc.publisher | Thesis (M.S.) - Bogazici University. Institute for Graduate Studies in Science and Engineering, 2016. | |
| dc.subject.lcsh | Navigation. | |
| dc.title | Appearance based self localization and navigation using place memory |
Files
Original bundle
1 - 1 of 1