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Advanced Navigation in Heterogeneous Multi-robot Systems in Outdoor Environment
Jílek, Tomáš ; Duchoň,, František (referee) ; Mazal, Jan (referee) ; Žalud, Luděk (advisor)
The doctoral thesis discusses current options for the navigation of unmanned ground vehicles with a focus on achieving high absolute compliance of the required motion trajectory and the obtained one. The current possibilities of key self-localization methods, such as global satellite navigation systems, inertial navigation systems, and odometry, are analyzed. The description of the navigation method, which allows achieving a centimeter-level accuracy of the required trajectory tracking with the above mentioned self-localization methods, forms the core of the thesis. The new navigation method was designed with regard to its very simple parameterization, respecting the limitations of the used robot drive configuration. Thus, after an appropriate parametrization of the navigation method, it can be applied to any drive configuration. The concept of the navigation method allows integrating and using more self-localization systems and external navigation methods simultaneously. This increases the overall robustness of the whole process of the mobile robot navigation. The thesis also deals with the solution of cooperative convoying heterogeneous mobile robots. The proposed algorithms were validated under real outdoor conditions in three different experiments.
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Sensor Calibration for Multispectral Data Fusion in Mobile Robotics
Kalvodová, Petra ; Hanzl, Vlastimil (referee) ; Mazal,, Jan (referee) ; Pospíšil,, Jiří (referee) ; Weigel, Josef (advisor)
Thesis deals with data fusion and calibration of sensory system of Orpheus-X3 robot and EnvMap mapping robot. These robots are parts of Cassandra robotic system that is used for exploration of hazardous or inaccessible areas. Corrections of measured distances are determined for used laser scanners Velodyne HDL-64, Velodyne HDL-32 and range camera SwissRanger SR4000. Software MultiSensCalib has been created and is described. This software is used for determination of intrinsic parameters of heterogeneous cameras of the sensory head and for determination of mutual position and orientation of these sensors. Algorithm for data fusion of CCD camera stereo pair, thermal imager stereo pair and range camera is proposed. Achieved calibration and data-fusion parameters are evaluated by several experiments.
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Optimal state estimation of a navigation model system
Papež, Milan ; Havlena, Vladimír (referee) ; Dokoupil, Jakub (advisor)
This thesis presents an investigation of the possibility of using the fixed-point arithmetic in the inertial navigation systems, which use the local level navigation frame mechanization equations. Two square root filtering methods, the Potter's square root Kalman filter and UD factorized Kalman filter, are compared with respect to the conventional Kalman filter and its Joseph's stabilized form. The effect of rounding errors to the Kalman filter optimality and the covariance matrix or its factors conditioning is evaluated for a various lengths of the fractional part of the fixed-point computational word. Main contribution of this research lies in an evaluation of the minimal fixed-point arithmetic word length for the Phi-angle error model with noise statistics which correspond to the tactical grade inertial measurements units.
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Visualization Environment for Robot Remote Control
Blahož, Vladimír ; Polok, Lukáš (referee) ; Španěl, Michal (advisor)
This thesis presents possibilities of 3D point cloud and true colored digital video fusion that can be used in the process of robot teleoperation. Advantages of a 3D environment visualization combining more than one sensor data, tools to facilitate such data fusion, as well as two alternative practical implementations of combined data visualization are discussed. First proposed alternative estimates view frustum of the robot's camera and maps real colored video to a semi-transparent polygon placed in the view frustum. The second option is a direct coloring of the point cloud data creating a colored point cloud representing color as well as depth information about an environment.
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Automatic detection of driving lanes geometry based on aerial images and existing spatial data
Růžička, Jakub
The aim of the thesis is to develop a method to identify driving lanes based on aerial images and existing spatial data. The proposed method uses up to date available data in which it identifies road surface marking (RSM). Polygons classified as RSM are further processed to obtain their vector line representation as the first partial result. While processing RSM vectors further, borders of driving lanes are modelled as the second partial result. Furthermore, attempts were done to be able to automatically distinguish between solid and broken lines for a higher amount of information contained in the resulting dataset. Proposed algorithms were tested in 20 case study areas and results are presented further in this thesis. The overall correctness as well as the positional accuracy proves effectivity of the method. However, several shortcomings were identified and are discussed as well as possible solutions for them are suggested. The text is accompanied by more than 70 figures to offer a clear perspective on the topic. The thesis is organised as follows: First, Introduction and Literature review are presented including the problem background, author's motivation, state of the art and contribution of the thesis. Secondly, technical and legal requirements of RSM are presented as well as theoretical concepts and...
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Automatic detection of driving lanes geometry based on aerial images and existing spatial data
Růžička, Jakub ; Brůha, Lukáš (advisor) ; Brodský, Lukáš (referee)
The aim of the thesis is to develop a method to identify driving lanes based on aerial images and existing spatial data. The proposed method uses up to date available data in which it identifies road surface marking (RSM). Polygons classified as RSM are further processed to obtain their vector line representation as the first partial result. While processing RSM vectors further, borders of driving lanes are modelled as the second partial result. Furthermore, attempts were done to be able to automatically distinguish between solid and broken lines for a higher amount of information contained in the resulting dataset. Proposed algorithms were tested in 20 case study areas and results are presented further in this thesis. The overall correctness as well as the positional accuracy proves effectivity of the method. However, several shortcomings were identified and are discussed as well as possible solutions for them are suggested. The text is accompanied by more than 70 figures to offer a clear perspective on the topic. The thesis is organised as follows: First, Introduction and Literature review are presented including the problem background, author's motivation, state of the art and contribution of the thesis. Secondly, technical and legal requirements of RSM are presented as well as theoretical concepts and...
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Sensor Calibration for Multispectral Data Fusion in Mobile Robotics
Kalvodová, Petra ; Hanzl, Vlastimil (referee) ; Mazal,, Jan (referee) ; Pospíšil,, Jiří (referee) ; Weigel, Josef (advisor)
Thesis deals with data fusion and calibration of sensory system of Orpheus-X3 robot and EnvMap mapping robot. These robots are parts of Cassandra robotic system that is used for exploration of hazardous or inaccessible areas. Corrections of measured distances are determined for used laser scanners Velodyne HDL-64, Velodyne HDL-32 and range camera SwissRanger SR4000. Software MultiSensCalib has been created and is described. This software is used for determination of intrinsic parameters of heterogeneous cameras of the sensory head and for determination of mutual position and orientation of these sensors. Algorithm for data fusion of CCD camera stereo pair, thermal imager stereo pair and range camera is proposed. Achieved calibration and data-fusion parameters are evaluated by several experiments.
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Visualization Environment for Robot Remote Control
Blahož, Vladimír ; Polok, Lukáš (referee) ; Španěl, Michal (advisor)
This thesis presents possibilities of 3D point cloud and true colored digital video fusion that can be used in the process of robot teleoperation. Advantages of a 3D environment visualization combining more than one sensor data, tools to facilitate such data fusion, as well as two alternative practical implementations of combined data visualization are discussed. First proposed alternative estimates view frustum of the robot's camera and maps real colored video to a semi-transparent polygon placed in the view frustum. The second option is a direct coloring of the point cloud data creating a colored point cloud representing color as well as depth information about an environment.
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Advanced Navigation in Heterogeneous Multi-robot Systems in Outdoor Environment
Jílek, Tomáš ; Duchoň,, František (referee) ; Mazal, Jan (referee) ; Žalud, Luděk (advisor)
The doctoral thesis discusses current options for the navigation of unmanned ground vehicles with a focus on achieving high absolute compliance of the required motion trajectory and the obtained one. The current possibilities of key self-localization methods, such as global satellite navigation systems, inertial navigation systems, and odometry, are analyzed. The description of the navigation method, which allows achieving a centimeter-level accuracy of the required trajectory tracking with the above mentioned self-localization methods, forms the core of the thesis. The new navigation method was designed with regard to its very simple parameterization, respecting the limitations of the used robot drive configuration. Thus, after an appropriate parametrization of the navigation method, it can be applied to any drive configuration. The concept of the navigation method allows integrating and using more self-localization systems and external navigation methods simultaneously. This increases the overall robustness of the whole process of the mobile robot navigation. The thesis also deals with the solution of cooperative convoying heterogeneous mobile robots. The proposed algorithms were validated under real outdoor conditions in three different experiments.
|
|
|
Optimal state estimation of a navigation model system
Papež, Milan ; Havlena, Vladimír (referee) ; Dokoupil, Jakub (advisor)
This thesis presents an investigation of the possibility of using the fixed-point arithmetic in the inertial navigation systems, which use the local level navigation frame mechanization equations. Two square root filtering methods, the Potter's square root Kalman filter and UD factorized Kalman filter, are compared with respect to the conventional Kalman filter and its Joseph's stabilized form. The effect of rounding errors to the Kalman filter optimality and the covariance matrix or its factors conditioning is evaluated for a various lengths of the fractional part of the fixed-point computational word. Main contribution of this research lies in an evaluation of the minimal fixed-point arithmetic word length for the Phi-angle error model with noise statistics which correspond to the tactical grade inertial measurements units.
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