Embedded Robotics

Vanderlei Bonato

ISBN 10: 3846508160 / ISBN 13: 9783846508169

Published by LAP LAMBERT Academic Publishing Sep 2011, 2011

About this Item

This item is printed on demand - it takes 3-4 days longer - Neuware -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. 140 pp. Englisch.

Seller Inventory # 9783846508169

Bibliographic Details

• Title: Embedded Robotics
• Publisher: LAP LAMBERT Academic Publishing Sep 2011
• Publication Date: 2011
• Language: English
• ISBN 10: 3846508160
• ISBN 13: 9783846508169
• Binding: Taschenbuch
• Condition: Neu
• Dimensions: 220W x 150H x 9D millimeters 220 millimeters width by 150 millimeters height by 9 millimeters depth
• Weight: 227 grams

About this title

Synopsis

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.

About the Author

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.