Embedded Robotics: A Hardware Architecture for Simultaneous Localization and Mapping of Mobile Robots - Softcover

Bonato, Vanderlei; Marques, Eduardo

 
9783846508169: Embedded Robotics: A Hardware Architecture for Simultaneous Localization and Mapping of Mobile Robots
Softcover
ISBN 10: 3846508160 ISBN 13: 9783846508169
Verlag: LAP LAMBERT Academic Publishing, 2011

Inhaltsangabe

This book presents a hardware architecture for the Simultaneous Localization And Mapping (SLAM) problem applied to embedded robots. The architecture is composed by highly specialized modules for robot localization and feature-based map building from images obtained directly from CMOS cameras in real time. The system is completely embedded on a Field-Programmable Gate Array (FPGA) device, where several hardware-orientated optimizations are exploited. The main modules of the architecture are the Extended Kalman Filter (EKF) and the feature detection system based on the SIFT (Scale Invariant Feature Transform) algorithm. Additionally, this book also presents basic concepts about mapping and state-of-the-art algorithms for SLAM with monocular and stereo vision.

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Über die Autorin bzw. den Autor

Dr. Vanderlei Bonato is lecturer at the Institute of Mathematical and Computing Sciences, The University of São Paulo, Brazil. His areas of interest are the modelling and development of customized hardware architectures for embedded systems based on FPGAs.

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Verlag
LAP LAMBERT Academic Publishing
Erscheinungsdatum
2011
Sprache
Englisch
ISBN 10 
3846508160
ISBN 13 
9783846508169
Einband
Taschenbuch
Anzahl der Seiten
140
Kontakt zum Hersteller
Nicht verfügbar
Verantwortliche Person
Fastbook Publishing
customerservice@vdm-vsg.de

Brivibas gatve 197
Riga
1039
Lettland