dc.creator | Krootjohn, Soradech | |
dc.date.accessioned | 2020-08-22T17:06:15Z | |
dc.date.available | 2008-06-16 | |
dc.date.issued | 2007-06-16 | |
dc.identifier.uri | https://etd.library.vanderbilt.edu/etd-06142007-165736 | |
dc.identifier.uri | http://hdl.handle.net/1803/12567 | |
dc.description.abstract | Estimating egomotion from a video sequence is intrinsically difficult and requires high-level mathematics and programming skills. This work exploits existing technology to leverage the development of a mobile robot’s navigation. An open source software MPEG encoder package is modified so that its motion vectors and encoded frame type are accessible. As a result, the process of estimating a motion field from the MPEG motion vectors is far less complicated and time-consuming than those used in conventional methods. The main contribution is the creation of low-cost multiple sensors for a mobile robot. Two real-time applications, visual odometry and precipice detection, are presented. Despite employing simple trigonometry, the visual odometry performs consistently well on moderately textured surfaces with low specular reflection. A proposed novel approach to detecting a precipice in real-time is shown to be successful even when the robot runs at a very high speed. The experimental results substantiate the use of both applications in real situations. | |
dc.format.mimetype | application/pdf | |
dc.subject | mobile robots | |
dc.subject | precipice detection | |
dc.subject | MPEG | |
dc.subject | Visual odometry | |
dc.subject | Robot vision | |
dc.title | Video Image Processing using MPEG Technology for a Mobile Robot | |
dc.type | dissertation | |
dc.contributor.committeeMember | Dr. George Cook | |
dc.contributor.committeeMember | Dr. Andrew Dozier | |
dc.contributor.committeeMember | Dr. Alan Peters | |
dc.contributor.committeeMember | Dr. Douglas Hardin | |
dc.type.material | text | |
thesis.degree.name | PHD | |
thesis.degree.level | dissertation | |
thesis.degree.discipline | Electrical Engineering | |
thesis.degree.grantor | Vanderbilt University | |
local.embargo.terms | 2008-06-16 | |
local.embargo.lift | 2008-06-16 | |
dc.contributor.committeeChair | Dr. Mitch Wilkes | |