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Title: 3D reconstruction and guaranteed primitive shape estimation using interval analysis
Author: Pacheco Gutierrez, Salvador
ISNI:       0000 0004 6496 823X
Awarding Body: University of Manchester
Current Institution: University of Manchester
Date of Award: 2017
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In a mobile robotic system, the interaction with the surrounding environment is essential in order to complete tasks such as localisation and mapping. This interaction can only be conducted by means of sensors that permit the accumulation of a large amount of information from several sources. However, this information is useless without adequate interpretation; thus, in order to accurately determine the positioning of the robot, it is necessary to identify and characterise landmarks in the environment required to serve as anchoring points for both localisation and mapping. Having constructed the map, an accurate analysis of the information gathered is vital. In this manner, this work is focused on two main aspects of any mobile robotic system: first, the detection and characterisation of highly descriptive landmarks by using image and point cloud processing techniques; and second, the geometrical and spatial analysis of the information gathered from the environment. For the former, two novel techniques based on image processing and geometrical analysis are presented; for the latter, a guaranteed technique for the parameter estimation of primitive shapes using interval analysis is proposed.
Supervisor: Ding, Zhengtao Sponsor: Not available
Qualification Name: Thesis (Ph.D.) Qualification Level: Doctoral
EThOS ID:  DOI: Not available
Keywords: Robotics ; Computer Vision ; SLAM ; Interval Analysis