Thesis Details
LIDAR a stereokamera v lokalizaci mobilních robotů
LIDAR (2D) has been widely used for mapping, localization and navigation in mobile robotics. However, its usage is limited to simple environments. This problem can be solved by adding more sensors and processing these data together. This paper explores a method how measurements from a stereo camera and LIDAR are fused to dynamical mapping. An occupancy grid map from LIDAR data is used as prerequisite and extended by a 2D grid map from stereo camera. This approach is based on the ground plane estimation in disparity map acquired from the stereo vision. For the ground plane detection, RANSAC and Least Squares methods are used. After obstacles determination, 2D occupancy map is generated. The output of this method is 2D map as a fusion of complementary maps from LIDAR and camera. Experimental results obtained from RUDA robot and MIT Stata Center Data Set are good enough to determine that this method is a benefit, although my implementation is still a prototype. In this paper, we present the applied methods, analyze the results and discuss the modifications and possible extensions to get better results.
LIDAR, stereo camera, mapping, Least square plane method, sensors fusion, disparity map, ground plane detection, mobile robotics
Beran Vítězslav, doc. Ing., Ph.D. (DCGM FIT BUT), člen
Bidlo Michal, doc. Ing., Ph.D. (DCSY FIT BUT), člen
Češka Milan, prof. RNDr., CSc. (DITS FIT BUT), člen
Herout Adam, prof. Ing., Ph.D. (DCGM FIT BUT), člen
Vranić Valentino, doc. Ing., Ph.D. (FIIT STU), člen
@mastersthesis{FITMT19330,
author = "Jana Vyroubalov\'{a}",
type = "Master's thesis",
title = "LIDAR a stereokamera v lokalizaci mobiln\'{i}ch robot\r{u}",
school = "Brno University of Technology, Faculty of Information Technology",
year = 2017,
location = "Brno, CZ",
language = "czech",
url = "https://www.fit.vut.cz/study/thesis/19330/"
}