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Localisation an mapping based on laser rangefinder and vision coupling for the autonomous navigation of a mobile robot

Abstract : During the exploration of an unknown environment, a mobile platform needs to know its location in order to accomplish its mission. Such a localization, however, is only possible using a map of the environment, which is unknown. This problem is typically solved through the joint estimation of the platform pose and the environment map. It is related to visual odometry and known in the robotics community under the acronym SLAM (Simultaneous Localization And Mapping). It is in this context that this research work is conducted, aiming at providing solutions to the problematics related to these topics. The main contributions of this thesis can hence be summarized in the following points : - Proposition of a feature initialization strategy for the estimation of the trajectory of a mobile platform equipped with a camera. - Using the scale-space image representation in order to enlarge the convergence domain of image alignment algorithms for projective and 3D transformations. - Integration of the proposed image alignment algorithm into a SLAM system for the fusion of a laser range finder scans and a camera images. The conducted experiments showed the benefits of the proposed approaches concerning the estimation precision and the robustness towards large transformations
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https://tel.archives-ouvertes.fr/tel-03766519
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Submitted on : Thursday, September 1, 2022 - 11:07:13 AM
Last modification on : Friday, September 2, 2022 - 3:07:33 AM

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  • HAL Id : tel-03766519, version 1

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Yassine Ahmine. Localisation an mapping based on laser rangefinder and vision coupling for the autonomous navigation of a mobile robot. Robotics [cs.RO]. Université de Picardie Jules Verne; Université de Laghouat (Algérie), 2021. English. ⟨NNT : 2021AMIE0021⟩. ⟨tel-03766519⟩

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