Graduation Year
2020
Document Type
Thesis
Degree
M.S.Cp.
Degree Name
MS in Computer Engineering (M.S.C.P.)
Degree Granting Department
Computer Science and Engineering
Major Professor
Alfredo Weitzenfeld, Ph.D.
Committee Member
Marvin Andujar, Ph.D.
Committee Member
Shaun Canavan, Ph.D.
Keywords
Positioning system, Autonomous Mobile Robots, Visual Localization Technique
Abstract
Many strategies for localization have been proposed, the majority of which rely on distance calculations and estimates. The proposed approach is a method that combines image-based single-camera localization techniques and the principle of trilateration to perform localization in a known indoor environment. By using a camera, the proposed system can detect custom objects using object detection in an indoor environment and calculate an approximation of the camera’s position. To recognize the location, previous information such as the size of the environment and the coordinates and sizes of the objects in the environment are given as input to the system together with the distance to such objects that are calculated by a previously calibrated distance detection algorithm.
Scholar Commons Citation
Salas Pacheco, Valeria M., "Trilateration-Based Localization in Known Environments with Object Detection" (2021). USF Tampa Graduate Theses and Dissertations.
https://digitalcommons.usf.edu/etd/9224
