Vision-based Navigation and Mapping Using Non-central Catadioptric Omnidirectional Camera

Simple item page
dc.contributor.advisorArmenakis, Costas
dc.creatorKhurana, Manas
dc.date.accessioned2017-07-27T13:37:21Z
dc.date.available2017-07-27T13:37:21Z
dc.date.copyright2016-12-06
dc.date.issued2017-07-27
dc.date.updated2017-07-27T13:37:21Z
dc.degree.disciplineEarth & Space Science
dc.degree.levelMaster's
dc.degree.nameMSc - Master of Science
dc.description.abstractOmnidirectional catadioptric cameras find their use in navigation and mapping, owing to their wide field of view. Having a wider field of view, or rather a potential 360 degree field of view, allows the user to see and move more freely in the navigation space. A catadioptric camera system is a low cost system which consists of a mirror and a camera. A calibration method was developed in order to obtain the relative position and orientation between the two components so that they can be considered as one monolithic system. The position of the system was determined, for an environment using the conditions obtained from the reflective properties of the mirror. Object control points were set up and experiments were performed at different sites to test the mathematical models and the achieved location and mapping accuracy of the system. The obtained positions were then used to map the environment.
dc.identifier.urihttp://hdl.handle.net/10315/33529
dc.language.isoen
dc.rightsAuthor owns copyright, except where explicitly noted. Please contact the author directly with licensing requests.
dc.subjectComputer science
dc.subject.keywordsOmnidirectional
dc.subject.keywordsCatadioptric
dc.subject.keywordsMapping
dc.subject.keywordsNavigation
dc.subject.keywordsVision
dc.subject.keywordsGeomatics
dc.subject.keywordsPhotogrammetry
dc.subject.keywordsPositioning
dc.subject.keywordsRobotics
dc.subject.keywordsMobile
dc.titleVision-based Navigation and Mapping Using Non-central Catadioptric Omnidirectional Camera
dc.typeElectronic Thesis or Dissertation

Files

Original bundle
Now showing 1 - 1 of 1
Thumbnail Image
Name:
Khurana_Manas_2017_Masters.pdf
Size:
13.14 MB
Format:
Adobe Portable Document Format
Download
License bundle
Now showing 1 - 2 of 2
No Thumbnail Available
Name:
license.txt
Size:
1.83 KB
Format:
Plain Text
Description:
Download
No Thumbnail Available
Name:
YorkU_ETDlicense.txt
Size:
3.38 KB
Format:
Plain Text
Description:
Download

Collections

Earth & Space Science

All items in the YorkSpace institutional repository are protected by copyright, with all rights reserved except where explicitly noted.