Indoors
Surveillance Mobile Robot
Introduction:
Surveillance
robots usually move within environments previously observed. An onboard vision sensor allows acquiring data of the environments
and using that data to visit, and image more times, some places already
visited.
This MSc
project proposal is concerned with estimating the
location of a wheeled mobile robot, saving in a database some places
to image again as e.g. the home location, and moving
among the previously observed places.
The wheeled mobile
robot is about 20cm long. The robot has one onboard
camera and one IMU, which are integrated by a Raspberry-pi. A wireless connection allows using
a desktop computer to process the data acquired onboard.
Detailed description:
Sensing and
moving in an unknown cluttered environment is based on navigation
methodologies, such as visual simultaneous navigation and mapping (v-SLAM).
More in detail,
is considered that the robot acquires information in a first run, and then uses
that information to find previously seen landmarks and therefore repeat paths
travelled in the past.
The work is organized in the following main steps:
1) data acquisition,
implies moving the robot within the scene and capturing scene information
2) data fusion
into a state representation involving the robot pose and landmarks
3)
demonstration of an autonomous travelling as e.g.
coming back to the home location
References:
[Anjos21] Visual Inertial Odometry for Surveillance Mobile
Robots, Miguel Anjos, MSc Thesis,
MEEC, IST - started Sep.2021
[Nogueira21] Visual Inertial Odometry on Self Acquired Datasets with State Initialization,
Paulo André Nogueira, MEEC/IST, 2021
[Cruz15] Wireless
Mobile Camera, João Cruz, MSc
thesis, MEEC/IST, 2015
[Pereira14] Robotic Home Sentinel,
David Pereira, MSc thesis,
MEEC/IST, 2014
[Mendonça14]
Omni-Telepresence
using Mobile Robots, José Mendonça, MSc thesis,
MEEC/IST, 2014
[Ribeiro13]
Nomadic
Surveillance Camera, MSc thesis, MEEC/IST, 2013
Expected results:
At the end of the work the students will have enriched their knowledge in:
* Computer vision
Observations:
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More MSc dissertation proposals on Computer and Robot Vision in:
http://omni.isr.ist.utl.pt/~jag