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A probabilistic framework for real-time mapping on an unmanned ground vehicle

Citation

Gillula, Jeremy (2006) A probabilistic framework for real-time mapping on an unmanned ground vehicle. Senior thesis (Minor), California Institute of Technology. http://resolver.caltech.edu/CaltechTHESIS:02052011-143940197

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Abstract

In the course of preparing for the 2005 DARPA Grand Challenge, an off-road race for autonomous vehicles, a group of undergraduates from Caltech developed a set of deterministic algorithms for performing sensor fusion on maps generated by different range sensors on a mobile robot. That framework had serious limitations, however, including “disappearing” obstacles and lack of confidence data associated with features in the maps. In this thesis, we present a probabilistic framework that attempts to solve some of these problems by using error models of two typical types of range sensors, as well as by making use of Kalman filtering techniques from control theory to fuse the resulting measurements into an accurate digital elevation map. Our results indicate that this probabilistic framework has several advantages over the determinisic framework used by Team Caltech in the 2005 Grand Challenge.

Item Type:Thesis (Senior thesis (Minor))
Subject Keywords:DGC, DARPA Grand Challenge, Team Caltech, Alice, probabilistic robotics, sensor fusion
Degree Grantor:California Institute of Technology
Division:Engineering and Applied Science
Major Option:Computer Science
Minor Option:Control and Dynamical Systems
Thesis Availability:Public (worldwide access)
Research Advisor(s):
  • Burdick, Joel Wakeman (advisor)
  • Murray, Richard M. (co-advisor)
  • Perona, Pietro (co-advisor)
Thesis Committee:
  • Unknown, Unknown
Defense Date:8 June 2006
Record Number:CaltechTHESIS:02052011-143940197
Persistent URL:http://resolver.caltech.edu/CaltechTHESIS:02052011-143940197
Default Usage Policy:No commercial reproduction, distribution, display or performance rights in this work are provided.
ID Code:6239
Collection:CaltechTHESIS
Deposited By: Jeremy Gillula
Deposited On:08 Feb 2011 23:00
Last Modified:26 Dec 2012 04:33

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