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dc.contributor.advisorMathisen, Geirnb_NO
dc.contributor.advisorHelle, Espennb_NO
dc.contributor.authorGarmo, Anders Moennb_NO
dc.date.accessioned2014-12-19T14:03:03Z
dc.date.available2014-12-19T14:03:03Z
dc.date.created2010-09-21nb_NO
dc.date.issued2010nb_NO
dc.identifier352468nb_NO
dc.identifierntnudaim:5419nb_NO
dc.identifier.urihttp://hdl.handle.net/11250/260167
dc.description.abstractIn this report outlines a partial navigation system with a time-of-flight camera, a laser range finder and a stereo camera rig. The sensors have been evaluated with regard to domain, advantages, error sources and overall performance. The time-of-flight camera and the laser range finder gave adequate results out-of-the-box. The stereo camera rig, on the other hand, did not work efficient in the pipe environment, even though the intrinsic parameters and distortion parameters of the cameras were estimated and compensated for. This was because of the limited lighting conditions and absence of structure in the pipeline environment. A topological world representation is also presented. Pipe line junctions and other possible landmarks are nodes in a graph. Each node has a list of attributes which is determined by the system depending on the condition of the pipe junction or landmark. This relies greatly on the ability of the system to recognize and extract features from the sensor data. The idea is to fit a cylinder to the 3D dataset given from the time-of-flight camera or stereo camera, estimate the properties as radius and direction, and match this to a database to find the matching node. Large deviations from the expected values can be assumed to be anomalies, and obstacles. The proposed feature extraction algorithms did not work according to expectations due to no efficient dataset segmentation was proposed. For the 2D dataset from the laser range finder the results were more promising. Lines were fitted to the dataset employing histogram segmentation, to extract the pipeline walls, and worked adequately.nb_NO
dc.languageengnb_NO
dc.publisherInstitutt for teknisk kybernetikknb_NO
dc.subjectntnudaimno_NO
dc.subjectSIE3 teknisk kybernetikkno_NO
dc.subjectReguleringsteknikkno_NO
dc.titleDevelopment of a Navigation System for a Snake Robot Locomoting in Pipesnb_NO
dc.typeMaster thesisnb_NO
dc.source.pagenumber144nb_NO
dc.contributor.departmentNorges teknisk-naturvitenskapelige universitet, Fakultet for informasjonsteknologi, matematikk og elektroteknikk, Institutt for teknisk kybernetikknb_NO


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