Global ETD Search
Search theses and dissertations gathered from participating repositories worldwide. Every result links back to the library that holds it. No account is needed.
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Showing 1 to 7 of 7 for “"Occupancy Grids"”.
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Real Time SLAM Using Compressed Occupancy Grids For a Low Cost Autonomous Underwater Vehicle
… that stores the map of the environment using an occupancy grid is introduced. The use of occupancy grids greatly increases the amount of memory required to perform the algorithm so a version of the Fast- SLAM algorithm that stores the occupancy grids using the Haar wavelet representation is …
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Information fusion for an unmanned underwater vehicle through probabilistic prediction and optimal matching
… neural network predicts a contact's future occupancy grid from a segment of its AIS track. Assignment costs are formed by comparing a sonar position with the predicted occupancy grids of relevant vessels. The assignment problem is solved to determine which sonar reports to match with …
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Learning the state of the world : object-based world modeling for mobile-manipulation robots
… representations for service robots. Compared to occupancy grids and feature-based maps that have been used traditionally in navigation and mapping, object-based representations are still in their infancy. By definition, mobile-manipulation robots are capable of moving in and interacting with the …
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Adaptive Learning Terrain Estimation for Unmanned Aerial Vehicle Applications
… research has focused on ground robots using occupancy grids and tree-like data structures, like Octomap and Quadtrees. Since flight vehicles have different constraints, ground-based terrain mapping research may not be directly applicable to the aerospace industry. To address this issue, …
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Terrain aware tactical motion planning and control algorithms for off-road UGVs in GNSS denied hostile environments
… obstacles. These representations, encompassing occupancy grids and topographic profiles, account for terrain geometry and surface characteristics, providing a foundation for subsequent planning stages. The path planning module leverages heuristic-driven graph search strategies to compute …
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Data Driven Selective Sensing for 3D Image Acquisition
… and the second based upon probabilistic occupancy grids that focuses on improving scene coverage. Furthermore, three selection processes to automatically choose which locations within the field of view of a range sensor to acquire next are proposed based upon the two formal improvement …
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Optimal path planning for detection and classification of underwater targets using sonar
… The detection state estimation falls under the occupancy grid framework, modeling the relationship between occupancy state of grid cells and sensor measurements, and allows for the consideration of statistical dependence between the occupancy state of each grid cell in the map. This is in direct …