Development of a room recognition system using a catadioptric sensor and artificial neural network

Robot localization has been a challenging issue in robot navigation. In recent years, there has been increasing interest in topological localization. One popular approach for vision based topological localization is the appearance based method, where the image can be used for recognition in its basi...

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Main Author:	Su, Eileen Lee Ming
Format:	Thesis
Language:	English
Published:	2006
Subjects:	TK Electrical engineering Electronics Nuclear engineering
Online Access:	http://eprints.utm.my/id/eprint/5145/1/EileenSuLeeMingMFKE2006.pdf
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id	my-utm-ep.5145
record_format	uketd_dc
spelling	my-utm-ep.51452018-02-28T07:55:02Z Development of a room recognition system using a catadioptric sensor and artificial neural network 2006-01 Su, Eileen Lee Ming TK Electrical engineering. Electronics Nuclear engineering Robot localization has been a challenging issue in robot navigation. In recent years, there has been increasing interest in topological localization. One popular approach for vision based topological localization is the appearance based method, where the image can be used for recognition in its basic form without extracting local features. The general aim of this work is to develop a room recognition system using appearance-based method for topological localization. In this work, the room recognition is achieved by matching color histogram of image using the Artificial Neural Network. A hardware module and a software module have been developed for this project. The hardware module consists of a catadioptric sensor system implemented on a mobile platform. The software module encompasses several sub modules namely image acquisition; image pre-processing; histogram plotting; histogram filtering, sampling and normalization; neural network for offline training and testing, and finally real time room recognition. A few experiments have been conducted to evaluate the performance of the system and the results have been favorable. Testing for suitable network setting was also carried out and a recommendable setting was proposed. 2006-01 Thesis http://eprints.utm.my/id/eprint/5145/ http://eprints.utm.my/id/eprint/5145/1/EileenSuLeeMingMFKE2006.pdf application/pdf en public masters Universiti Teknologi Malaysia, Faculty of Electrical Engineering Faculty of Electrical Engineering
institution	Universiti Teknologi Malaysia
collection	UTM Institutional Repository
language	English
topic	TK Electrical engineering Electronics Nuclear engineering
spellingShingle	TK Electrical engineering Electronics Nuclear engineering Su, Eileen Lee Ming Development of a room recognition system using a catadioptric sensor and artificial neural network
description	Robot localization has been a challenging issue in robot navigation. In recent years, there has been increasing interest in topological localization. One popular approach for vision based topological localization is the appearance based method, where the image can be used for recognition in its basic form without extracting local features. The general aim of this work is to develop a room recognition system using appearance-based method for topological localization. In this work, the room recognition is achieved by matching color histogram of image using the Artificial Neural Network. A hardware module and a software module have been developed for this project. The hardware module consists of a catadioptric sensor system implemented on a mobile platform. The software module encompasses several sub modules namely image acquisition; image pre-processing; histogram plotting; histogram filtering, sampling and normalization; neural network for offline training and testing, and finally real time room recognition. A few experiments have been conducted to evaluate the performance of the system and the results have been favorable. Testing for suitable network setting was also carried out and a recommendable setting was proposed.
format	Thesis
qualification_level	Master's degree
author	Su, Eileen Lee Ming
author_facet	Su, Eileen Lee Ming
author_sort	Su, Eileen Lee Ming
title	Development of a room recognition system using a catadioptric sensor and artificial neural network
title_short	Development of a room recognition system using a catadioptric sensor and artificial neural network
title_full	Development of a room recognition system using a catadioptric sensor and artificial neural network
title_fullStr	Development of a room recognition system using a catadioptric sensor and artificial neural network
title_full_unstemmed	Development of a room recognition system using a catadioptric sensor and artificial neural network
title_sort	development of a room recognition system using a catadioptric sensor and artificial neural network
granting_institution	Universiti Teknologi Malaysia, Faculty of Electrical Engineering
granting_department	Faculty of Electrical Engineering
publishDate	2006
url	http://eprints.utm.my/id/eprint/5145/1/EileenSuLeeMingMFKE2006.pdf
_version_	1747814567348535296

Development of a room recognition system using a catadioptric sensor and artificial neural network

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