Overhead Localization of Mobile Robots
Abstract: The objective of this thesis has been to develop a system that detects a mobile robot with tracking and controlling its position with the help of one or more cameras. This has been done by implementing different algorithms that are able to detects markers. By using several cameras one can track over a bigger area and estimate the markers position with better precision by using triangulation where the marker has been detected by at least two cameras. A tracking marker is mounted on a robot which enables the camera to detect the robot and a reference marker is placed on the ground in order for the mobile robot to move towards the reference marker. When the tracking and reference marker has been detected the direct commands are then sent to the mobile robot for controlling its position. Topics that are of interest in this report are image analysis in general, image analysis algorithms, camera calibration, different libraries for implementation, Lego mindstorms NXT, sockets TCP/UDP, bluetooth.
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