Optik ak tabanl görsel SLAM algoritmasnn teorik düzeyde gerçeklenmesinin ardndan deneysel sonuçlarla da algoritmann snanmas ilemine geçilmitir. Bunun için TÜ Robotik Laboratuarnda bulunan lazer sensör tabanl otonom araçlarn üzerine kamera sistemi kurulmutur. Deneylerin gerçekletirildii araç ekil 7.1 ‘de görülmektedir.
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Birinci deney srasnda araca laboratuar içerisinde yarm daire gidecek biçimde bir yol izletilmitir. Aracn izledii yol ekil 7.2 ‘de verilmitir.
ekil 7.2 : Aracn haritalama ilemi srasnda izledii yol
Aracn ekil 7.2‘de izledii yolda Optik ak tabanl görsel SLAM algoritmas kullanlarak çizdii harita ekil ekil 7.3‘de verilmitir.
Aracn bir dier testi karmakln daha düük seviyede olduu ekil 7.4‘de görülen koridor açkl boyunca ilerleyen robotun ortamla ilgili öngördüü ön harita ekil 7.5‘de görülmektedir.
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ekil 7.3 : Araç konumuna bal olarak elde edilen yaklak harita
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ekil 7.4 : Aracn haritalama ilemi srasnda izledii ikinci yol
ekil 7.5 : kinci araç konumuna bal olarak elde edilen yaklak harita
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8. SONUÇ VE ÖNERLER
Bu çalmada, iç ortamlardaki belirgin takip edilebilirlik özellikleri bulunan referans noktalarnn, aracn konumuna bal olarak ekran izdüümündeki yer deitirme orannn optik ak yöntemleri kullanlarak belirlenmesi ve bu bilginin referans noktalarn koordinatlar üzerinden üç boyutlu uzay haritasnn çkarlmas hedeflenmitir. Yaplan deneysel çalmalarla ortaya atlan savn tutarll irdelenmitir. leriki aamada kamera araclyla elde edilen takribi haritalama ileminin üç boyutlu lazer tarayclarla elde edilen yüksek çözünürlük ve hassasiyetteki verilerin geriçatlmas ileminde kullanlmasnn salanmas düünülmektedir.
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ÖZGEÇM
Ad Soyad: Onur encan
Doum Yeri ve Tarihi: zmir – 26-12-1985
Adres: .T.Ü. Elektrik-Elektronik Fakültesi Kontrol Mühendislii Bölümü Robotik Laboratuar 34469 Maslak stanbul/Türkiye
Lisans Üniversite:
x Kocaeli Üniversitesi –Elektrik Mühendislii
x Kocaeli Üniversitesi –Elektronik ve Haberleme Mühendislii
Yayn Listesi:
x encan O.,Yldz A. B., “Asenkron Motorun Simülasyonunun Grafiksel Kullanc Arayüzü Üzerinden Gerçekletirilmesi,” Elektrik-Elektronik- Bilgisayar Mühendislii 12.Ulusal Kongresi, Bursa, 2007.
x Sencan O., Sariyanidi V., Temeltas H., “Drivable Floor Detection with Monocular Visual Perception,” 2nd International Joint Robotics Symposium, 2009.