Medeiros, Adelardo Adelino Dantas deSilva, Luiz Henrique Rodrigues da2014-12-172014-11-242014-12-172014-01-24SILVA, Luiz Henrique Rodrigues da. Desenvolvimento de solução para SLAM utilizando visão de teto. 2014. 72 f. Dissertação (Mestrado em Automação e Sistemas; Engenharia de Computação; Telecomunicações) - Universidade Federal do Rio Grande do Norte, Natal, 2014.https://repositorio.ufrn.br/jspui/handle/123456789/15503This work intends to show a new and few explored SLAM approach inside the simultaneous localization and mapping problem (SLAM). The purpose is to put a mobile robot to work in an indoor environment. The robot should map the environment and localize itself in the map. The robot used in the tests has an upward camera and encoders on the wheels. The landmarks in this built map are light splotches on the images of the camera caused by luminaries on the ceil. This work develops a solution based on Extended Kalman Filter to the SLAM problem using a developed observation model. Several developed tests and softwares to accomplish the SLAM experiments are shown in detailsapplication/pdfAcesso AbertoCv-SLAM. Filtro de Kalman Estendido. Manchas de Luminosidade. Robô MóvelCv-SLAM. Extended Kalman Filter. Light Splotches. Mobile RobotmasterThesisCNPQ::ENGENHARIAS::ENGENHARIA ELETRICA