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An exemplary application of decision theory in robotics: autonomous calibration of depth cameras with non-overlapping fields of view on a mobile platform

Denninger, Maximilian (2015) An exemplary application of decision theory in robotics: autonomous calibration of depth cameras with non-overlapping fields of view on a mobile platform. Bachelor's. DLR-Interner Bericht. DLR-IB 572-2015/11, 58 S.

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Abstract

This thesis is about the creation of a decider, which is able to evaluate decision trees and utility tables. The decider enables the robot to decide by its own, which action should be performed in the actual situation. Afterwards the decider is used for the calibration process of time of flight cameras with non-overlapping field of views on a mobile platform. A framework is the main objective of this thesis, which can be utilized for known problems as Localization and Exploration in mobile robotics. Therefore, clear interfaces will be designed, to ensure that the framework will be used in future works. After the implementation of the decider a decision tree is designed containing the calibration’s process. This tree must have clearly specified actions and states, which can be observed by the robot itself. At the end the combination of the decision process with the calibration will be evaluated.

Item URL in elib:https://elib.dlr.de/96336/
Document Type:Monograph (DLR-Interner Bericht, Bachelor's)
Title:An exemplary application of decision theory in robotics: autonomous calibration of depth cameras with non-overlapping fields of view on a mobile platform
Authors:
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Denninger, Maximilianmaximilian.denninger (at) dlr.deUNSPECIFIED
Date:20 March 2015
Refereed publication:No
Open Access:Yes
Gold Open Access:No
In SCOPUS:No
In ISI Web of Science:No
Number of Pages:58
Status:Published
Keywords:Decision Making, Decision Theory, Calibration, Mobile Robots
Institution:Hochschule Kempten
Department:Fakultät Informatik
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Space Technology
DLR - Research area:Raumfahrt
DLR - Program:R SY - Technik für Raumfahrtsysteme
DLR - Research theme (Project):R - Vorhaben Multisensorielle Weltmodellierung
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013)
Institute of Robotics and Mechatronics (since 2013) > Perception and Cognition
Deposited By: Rink, Christian
Deposited On:17 Jun 2015 11:12
Last Modified:31 Jul 2019 19:53

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