Image Flow and INS Sensor Fusion for the Accurate Localization of Planner Micro Robots

khomejani, Shabnaz | 2012

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  1. Type of Document: M.Sc. Thesis
  2. Language: English
  3. Document No: 42747 (58)
  4. University: Sharif University of Technology, International Campus, Kish Island
  5. Department: Science and Engineering
  6. Advisor(s): Vossoughi, Gholamreza
  7. Abstract:
  8. This research focuses on the robust mobile robot localization exploiting motion information acquired from an optical mouse operating based on optical flow technology. Most techniques of visual motion measurement are based on the well research discipline called “optical flow”. Theoretically, optical flow as a method of localization can be highly accurate, but it is sensitive to the noise and surface texture/optical characteristics and distance variations between the CCD detector and surface. As one could not achieve acceptable results in practical situations, to handle these problems, we propose to attach an acceleration – gyro (INS) sensor on the CCD detector (optical mouse) to improve the results. Through sensor fusion, we may combine extracted data from different sensors, remove inconsistencies and combine the information into one coherent and more accurate result. In this project, we consider the specific problem of estimating the three components of linear motion (two linear and a rotational component of motion) on a flat surface. The main scope of this research is enhancing the accuracy of measurements using the fusion of data from both an LED optical mouse and INS sensors by applying Kalman filter algorithm. Also we proposed a new generalized method based on evolutionary algorithms (genetic algorithms) to remove the offset between two data sets
  9. Keywords:
  10. Genetic Algorithm ; Kalman Filters ; Inertial Navigation System ; Optical Flow ; Optical Mouse ; Sensor Data Fusion

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