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- Type of Document: M.Sc. Thesis
- Language: Farsi
- Document No: 48593 (19)
- University: Sharif University of Technology
- Department: Computer Engineering
- Advisor(s): Manzuri Shalmani, Mohammad Taghi
- Abstract:
- Knowing the exact position of the robot in real world is one of crucial and important aspects of its navigation process. For this purpose, several inertial sensors such as gyroscope, accelerometer and compass have been used; however, each one of these sensors has its own drawbacks which cause some inaccuracies in some specific situations. Moreover, the Global Positioning System (GPS) is not available in indoor environments and also not accurate in outdoor places. All of these reasons have persuaded researchers to use camera frames captured from the top of robot as new information for estimating motion parameters of the robot. The main challenge for vision aided localization algorithms is that they require a huge amount of processing in order to have enough precision in their output. In this thesis, we have addressed the challenge of long execution time for vision aided rotation estimation algorithms. We investigate several previous works in this regard and also propose a new 3-point rotation estimation algorithm which is more efficient in term of processing speed. In order to improve the execution time of the proposed algorithm, we also proposed a new methodology of parallel implementation on Graphical Processing Unit (GPU) which can increase the overall speed up to 150 times. Proposed algorithms in this thesis have been evaluated using several real datasets and also have been compared with well-known methods in both terms of accuracy and speed
- Keywords:
- Parallel Processing ; Vision Based Navigation ; Graphics Procssing Unit (GPU) ; Multiview Cameras ; Rotation Estimation Camera ; Parallel Implementation
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