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Thesis

3D laser methods for calibrating and localising robotic vehicles

Abstract:

This thesis is about the construction and automatic target-less calibration of a 3D laser sensor; this is then used to localise an autonomous vehicle without using other sensors.

Two novel contributions to our knowledge of robotics are presented here. The first is an automatic calibration routine, which is capable of learning its calibration parameters using only data from a 3D laser scanner. Targets with known dimensions are not required, as has previously been the case. The second...

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Institution:
University of Oxford
Division:
MPLS
Department:
Engineering Science
Research group:
Mobile Robotics Group (MRG)
Oxford college:
Brasenose College
Role:
Author

Contributors

Division:
MPLS
Department:
Engineering Science
Role:
Supervisor
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Funding agency for:
Sheehan, M
Publication date:
2013
Type of award:
DPhil
Level of award:
Doctoral
Awarding institution:
University of Oxford
Language:
English
Keywords:
Subjects:
UUID:
uuid:021cd760-62a7-470a-b276-d47ba305dc04
Local pid:
ora:11993
Deposit date:
2015-07-29

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