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Thesis

Choosing where to go: mobile robot exploration

Abstract:

For a mobile robot to engage in exploration of a-priori unknown environments it must be able to identify locations which will yield new information when visited. This thesis presents two novel algorithms which attempt to answer the question of choosing where a robot should go next in a partially explored workspace.

To begin we describe the process of acquiring highly accurate dense 3D data from a stereo camera. This approach combines techniques from a number of existing implementatio...

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Institution:
University of Oxford
Division:
MPLS
Department:
Engineering Science
Research group:
Mobile Robotics Group
Oxford college:
New College
Role:
Author

Contributors

Division:
MPLS
Department:
Engineering Science
Role:
Supervisor
Publication date:
2011
Type of award:
DPhil
Level of award:
Doctoral
Awarding institution:
University of Oxford
Language:
English
Keywords:
Subjects:
UUID:
uuid:4a7d5578-f354-48e9-80b4-f3c83234be5f
Local pid:
ora:6789
Deposit date:
2013-03-28

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