Приказ основних података о дисертацији
Co-design of architectures and algorithms for mobile robot localization and model-based detection of obstacles
Kodizajn arhitekture i algoritama za lokalizacijumobilnih robota i detekciju prepreka baziranih namodelu
dc.contributor.advisor | Raković, Mirko | |
dc.contributor.advisor | Devy, Michel | |
dc.contributor.other | Borovac, Branislav | |
dc.contributor.other | Akil, Mohamed | |
dc.contributor.other | Obradović, Đorđe | |
dc.contributor.other | Piat, Jonathan | |
dc.contributor.other | Raković, Mirko | |
dc.contributor.other | Devy, Michel | |
dc.creator | Tertei, Daniel | |
dc.date.accessioned | 2017-01-23T10:50:30Z | |
dc.date.available | 2017-01-23T10:50:30Z | |
dc.date.available | 2020-07-03T14:07:47Z | |
dc.date.issued | 2016-12-02 | |
dc.identifier.uri | http://www.cris.uns.ac.rs/DownloadFileServlet/Disertacija147402386613115.pdf?controlNumber=(BISIS)101781&fileName=147402386613115.pdf&id=6888&source=NaRDuS&language=sr | sr |
dc.identifier.uri | https://nardus.mpn.gov.rs/handle/123456789/7425 | |
dc.identifier.uri | http://www.cris.uns.ac.rs/record.jsf?recordId=101781&source=NaRDuS&language=sr | sr |
dc.identifier.uri | http://www.cris.uns.ac.rs/DownloadFileServlet/IzvestajKomisije147402389370177.pdf?controlNumber=(BISIS)101781&fileName=147402389370177.pdf&id=6889&source=NaRDuS&language=sr | sr |
dc.description.abstract | This thesis proposes SoPC (System on a Programmable Chip) architectures for efficient embedding of vison-based localization and obstacle detection tasks in a navigational pipeline on autonomous mobile robots. The obtained results are equivalent or better in comparison to state-ofthe- art. For localization, an efficient hardware architecture that supports EKF-SLAM's local map management with seven-dimensional landmarks in real time is developed. For obstacle detection a novel method of object recognition is proposed - detection by identification framework based on single detection window scale. This framework allows adequate algorithmic precision and execution speeds on embedded hardware platforms. | en |
dc.description.abstract | Ova teza bavi se dizajnom SoPC (engl. System on a Programmable Chip) arhitektura i algoritama za efikasnu implementaciju zadataka lokalizacije i detekcije prepreka baziranih na viziji u kontekstu autonomne robotske navigacije. Za lokalizaciju, razvijena je efikasna računarska arhitektura za EKF-SLAM algoritam, koja podržava skladištenje i obradu sedmodimenzionalnih orijentira lokalne mape u realnom vremenu. Za detekciju prepreka je predložena nova metoda prepoznavanja objekata u slici putem prozora detekcije fiksne dimenzije, koja omogućava veću brzinu izvršavanja algoritma detekcije na namenskim računarskim platformama. | sr |
dc.language | en | |
dc.publisher | Универзитет у Новом Саду, Факултет техничких наука | sr |
dc.rights | openAccess | en |
dc.rights.uri | https://creativecommons.org/licenses/by-nc-nd/4.0/ | |
dc.source | Универзитет у Новом Саду | sr |
dc.subject | Robot navigation | en |
dc.subject | Robotska navigacija | sr |
dc.subject | visual SLAM | en |
dc.subject | visual obstacle detection | en |
dc.subject | hw/sw co-design | en |
dc.subject | SoPC | en |
dc.subject | heterogeneous embedded boards | en |
dc.subject | vizuelni SLAM | sr |
dc.subject | detekcija prepreka u slici | sr |
dc.subject | kodizajn hardver/softver | sr |
dc.subject | SoPC | sr |
dc.subject | heterogene namenske pločice | sr |
dc.title | Co-design of architectures and algorithms for mobile robot localization and model-based detection of obstacles | en |
dc.title.alternative | Kodizajn arhitekture i algoritama za lokalizacijumobilnih robota i detekciju prepreka baziranih namodelu | sr |
dc.type | doctoralThesis | en |
dc.rights.license | BY-NC-ND | |
dcterms.abstract | Раковић Мирко; Девy Мицхел; Боровац Бранислав; Aкил Мохамед; Обрадовић Ђорђе; Пиат Јонатхан; Раковић Мирко; Девy Мицхел; Тертеи Даниел; | |
dc.identifier.fulltext | http://nardus.mpn.gov.rs/bitstream/id/41808/Disertacija7354.pdf | |
dc.identifier.fulltext | https://nardus.mpn.gov.rs/bitstream/id/41807/IzvestajKomisije7354.pdf | |
dc.identifier.fulltext | https://nardus.mpn.gov.rs/bitstream/id/41808/Disertacija7354.pdf | |
dc.identifier.fulltext | http://nardus.mpn.gov.rs/bitstream/id/41807/IzvestajKomisije7354.pdf | |
dc.identifier.rcub | https://hdl.handle.net/21.15107/rcub_nardus_7425 |