Archives and Documentation Center
Digital Archives

Appearance based self localization and navigation using place memory

Show simple item record

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.identifier.other EE 2016 Y46
dc.identifier.uri http://digitalarchive.boun.edu.tr/handle/123456789/12899
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.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
dc.format.pages xiv, 67 leaves ;


Files in this item

This item appears in the following Collection(s)

Show simple item record

Search Digital Archive


Browse

My Account