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Full-Text Articles in Robotics
Enhancing 3d Visual Odometry With Single-Camera Stereo Omnidirectional Systems, Carlos A. Jaramillo
Enhancing 3d Visual Odometry With Single-Camera Stereo Omnidirectional Systems, Carlos A. Jaramillo
Dissertations, Theses, and Capstone Projects
We explore low-cost solutions for efficiently improving the 3D pose estimation problem of a single camera moving in an unfamiliar environment. The visual odometry (VO) task -- as it is called when using computer vision to estimate egomotion -- is of particular interest to mobile robots as well as humans with visual impairments. The payload capacity of small robots like micro-aerial vehicles (drones) requires the use of portable perception equipment, which is constrained by size, weight, energy consumption, and processing power. Using a single camera as the passive sensor for the VO task satisfies these requirements, and it motivates the …
2d Vector Map And Database Design For Indoor Assisted Navigation, Luciano Caraciolo Albuquerque
2d Vector Map And Database Design For Indoor Assisted Navigation, Luciano Caraciolo Albuquerque
Dissertations and Theses
In this paper we implemented a 2D Vector Map, map editor and Database design intended to provide an efficient way to convert cad files from indoor environments to a set of vectors representing hallways, doors, exits, elevators, and other entities embedded in a floor plan, and save them in a database for use by other applications, such as assisted navigation for blind people.
A graphical application as developed in C++ to allow the user to input a CAD DXF file, process the file to automatically obtain nodes and edges, and save the nodes and edges to a database for posterior …