Autonomous Robots in Dynamic Indoor Environments: Localization and Person-Following

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dc.contributor.advisorTsotsos, John K.
dc.creatorSahdev, Raghavender
dc.date.accessioned2018-05-28T12:59:56Z
dc.date.available2018-05-28T12:59:56Z
dc.date.copyright2018-03-22
dc.date.issued2018-05-28
dc.date.updated2018-05-28T12:59:56Z
dc.degree.disciplineComputer Science
dc.degree.levelMaster's
dc.degree.nameMSc - Master of Science
dc.description.abstractAutonomous social robots have many tasks that they need to address such as localization, mapping, navigation, person following, place recognition, etc. In this thesis we focus on two key components required for the navigation of autonomous robots namely, person following behaviour and localization in dynamic human environments. We propose three novel approaches to address these components; two approaches for person following and one for indoor localization. A convolutional neural networks based approach and an Ada-boost based approach are developed for person following. We demonstrate the results by showing the tracking accuracy over time for this behaviour. For the localization task, we propose a novel approach which can act as a wrapper for traditional visual odometry based approaches to improve the localization accuracy in dynamic human environments. We evaluate this approach by showing how the performance varies with increasing number of dynamic agents present in the scene. This thesis provides qualitative and quantitative evaluations for each of the approaches proposed and show that we perform better than the current approaches.
dc.identifier.urihttp://hdl.handle.net/10315/34572
dc.language.isoen
dc.rightsAuthor owns copyright, except where explicitly noted. Please contact the author directly with licensing requests.
dc.subjectArtificial intelligence
dc.subject.keywordsRobotics
dc.subject.keywordsComputer vision
dc.subject.keywordsPerson following
dc.subject.keywordsPerson following robot
dc.subject.keywordsTracking
dc.subject.keywordsPerson tracking
dc.subject.keywordsTarget tracking
dc.subject.keywordsLocalization
dc.subject.keywordsVisual odometry
dc.subject.keywordsWheel odometry
dc.subject.keywordsHumans
dc.subject.keywordsDynamic environments
dc.subject.keywordsAutonomous robots
dc.subject.keywordsCNN tracker
dc.subject.keywordsStereo vision
dc.subject.keywordsAda-boosting
dc.subject.keywordsReal-time tracking
dc.subject.keywordsSocial robots
dc.titleAutonomous Robots in Dynamic Indoor Environments: Localization and Person-Following
dc.typeElectronic Thesis or Dissertation

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