Robotik platformun panaromik fotoğraflar kullanılarak dış mekan lokalizasyonunun yapılması

Advances in robotics liberated robots from factory floors by the end of 20th century. Use of robots in our daily lives is only expected to increase in time. Robots, while relieving us from the burden of tedious, hard and dangerous tasks, most of them are still expected to be territorial, i.e. they will operate in a predefined or rather bounded environment. For enhanced performance, a robot should be familiar with its territory. In this work, use of skylines extracted from panoramic images is studied in order to provide localization in a square region. In order to achieve localization in a specific territory, firstly, a map is formed in that area using skylines which are extracted from captured photographs. Then, different images are obtained in the territory and skyline signals are extracted for the purpose of matching with the ones of map. As a result of matching process, localization is performed in that certain territory. In order to observe performance of localization algorithm, photographs are captured in diferent environments, seasons and times of day. Also, artifical occlusions are added to skyline signals in order to observe failure point of algorithm.