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Title page for ETD etd-06142007-165736

Type of Document Dissertation
Author Krootjohn, Soradech
Author's Email Address soradech.krootjohn@vanderbilt.edu
URN etd-06142007-165736
Title Video Image Processing using MPEG Technology for a Mobile Robot
Degree PhD
Department Electrical Engineering
Advisory Committee
Advisor Name Title
Dr. Mitch Wilkes Committee Chair
Dr. Alan Peters Committee Member
Dr. Andrew Dozier Committee Member
Dr. Douglas Hardin Committee Member
Dr. George Cook Committee Member
  • mobile robots
  • precipice detection
  • MPEG
  • Visual odometry
  • Robot vision
Date of Defense 2007-05-31
Availability unrestricted
Estimating egomotion from a video sequence is intrinsically difficult and requires high-level mathematics and programming skills. This work exploits existing technology to leverage the development of a mobile robot’s navigation. An open source software MPEG encoder package is modified so that its motion vectors and encoded frame type are accessible. As a result, the process of estimating a motion field from the MPEG motion vectors is far less complicated and time-consuming than those used in conventional methods. The main contribution is the creation of low-cost multiple sensors for a mobile robot. Two real-time applications, visual odometry and precipice detection, are presented. Despite employing simple trigonometry, the visual odometry performs consistently well on moderately textured surfaces with low specular reflection. A proposed novel approach to detecting a precipice in real-time is shown to be successful even when the robot runs at a very high speed. The experimental results substantiate the use of both applications in real situations.
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