KAMERA SEBAGAI SENSOR POSISI PADA VISUAL SIMULTANEOUS LOCALISATION AND MAPPING

• Main Authors: , HADHA AFRISAL, , Dr. Indah Soesanti, S.T., M.T.
• Format: Theses and Dissertations NonPeerReviewed
• Published: [Yogyakarta] : Universitas Gadjah Mada 2013
• Subjects: ETD
• Online Access: https://repository.ugm.ac.id/126298/; http://etd.ugm.ac.id/index.php?mod=penelitian_detail&sub=PenelitianDetail&act=view&typ=html&buku_id=66517
• Institution: Universitas Gadjah Mada

Camera as the main sensor in mobile robot has a role as position sensor to navigate the robot. By extracting point features from the environment�s images, robot builds the 3D map of its environment by doing localisation and mapping. The aims of this research are both to design and to simulate computer vision algorithm for pose estimation and simple monocular SLAM to understand basic principles of multiple view geometry for visual-based mobile robot. The focus of this research is to discuss the camera and the transformation of image within monocular SLAM. The method of pose estimation and monocular SLAM use multiple view geometry approach included (1) corner detection, (2) matching, and (3) position estimation. According to the results of this research, pose estimation was successfully done to sample images with small mean estimation error (2.9 mm for distance estimation and 0.30833° for angle estimation). Then for simple monocular SLAM simulation, several point features were well-mapped consistently using 1100 image sequences.