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.
Results
Showing 1 to 20 of 25 for “"Occupancy grid"”.
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A Bayesian occupancy grid filter for robust pedestrian dead reckoning
Submission published under a 24 month embargo labeled 'U of I Access', the embargo will last until 2025-12-01
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Collision Avoidance for Automated Vehicles Using Occupancy Grid Map and Belief Theory
This thesis discusses occupancy grid map, collision avoidance system and belief theory, and propose some of the latest and the most effective method such as predictive occupancy grid map, risk evaluation model and OGM role in the belief function theory with the approach of decision uncertainty …
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Multi-sensor (IR) data fusion for mobile robot navigation using occupancy grid method.
… using a GUI (Graphical User Interface); (2) Occupancy grid method implementation using Bayesian analysis for the case of an IR ranging sensor; (3) Unstructured environment mapping, in the context of multi-sensor data fusion of mobile robot views taken from different given positions; (4) …
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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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Stochastic mapping for chemical plume source localization with application to autonomous hydrothermal vent discovery
… for stochastic mapping is an adaptation of occupancy grid mapping where the binary state of map nodes is redefined to denote either the presence (occupancy) or absence of an active plume source. A key characteristic of the chemical plume source localization problem is that only a few sources …
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Stochastic mapping for chemical plume source localization with application to autonomous hydrothermal vent discovery
… for stochastic mapping is an adaptation of occupancy grid mapping where the binary state of map nodes is redefined to denote either the presence (occupancy) or absence of an active plume source. A key characteristic of the chemical plume source localization problem is that only a few sources …
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Vector Distance Transform Maps for Autonomous Mobile Robot Navigation
… representation compared to alternatives such as occupancy grid maps and other distance transform variants such as the unsigned distance transform and the signed distance transform. We propose an approach based on non-linear least squares optimization for robot localization on environments …
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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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Mutual information-based gradient-ascent control for distributed robotics
… with a range sensor and tasked to build an occupancy grid map. The desired explorative behaviors of the robot for occupancy grid mapping highlight the correlation between the information content and the spatial realization of the robot's range measurements. We prove that any occupancy grid …
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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 …
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Persistent autonomous exploration, mapping and localization
… to baseline frontier exploration on an occupancy grid that makes the robot's frontier exploration more efficient. Second, we describe the new software structure and recovery behavior for an autonomous robot to navigate to its dock despite errors of uncertainty in its map. Third, we …
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Localizing, modeling, and drifting an autonomous RACECAR
… high performance two-dimensional ray casting in occupancy grid maps, called the Compressed Directional Distance Transform (CDDT). Here, I will discuss the theory and characteristics of the CDDT algorithm, which has been implemented in RangeLibc, my open-source software library.
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Maritime Object Detection, Tracking, and Classification Using Lidar and Vision-Based Sensor Fusion
… global reference frame, they are reduced to a 3D occupancy grid. Objects are then extracted and classified with a Support Vector Machine (SVM) classifier. The LiDAR returns, when converted from a global frame to a camera frame, then allow the cameras to process a region of their imaging frame to …
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Toward robust active semantic SLAM via Max-Mixtures
… objects and a locally consistent flexible occupancy grid. This provides a topological representation for grouping objects into higher level classes and a geometric map for traditional planning. Additionally, a reactive dynamic window obstacle avoidance system is shown to quickly plan short …
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A preliminary study on path planning and obstacle avoidance for construction equipment based on real-time spatial models
… with a static object and a moving object. The occupancy grid algorithm successfully built a suitable 3D local model in real-time, and the path finding algorithm was able to produce a collision-free motion trajectory. This research result shows that the proposed path planning approach is …
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Compressive cooperative obstacle mapping with see-through capabilities in mobile networks
… be sensed directly by the laser scanners) using occupancy grid mapping approaches. The parts that can not properly be mapped are then identified and mapped based on wireless channel measurements. We show how to integrate occupancy grid mapping with two reconstruction methods based on wireless …
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Information Freshness for Monitoring and Control over Wireless Networks
… improvements in the collection of time-varying occupancy grid maps using multiple robots via the Whittle Index framework. Further, to demonstrate the benefits of our theoretical contributions, we built a real system (WiSwarm) for mobility tracking using a swarm of UAVs, communicating with a …
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A continuous approach to information-theoretic exploration with range sensors
… gain -- i.e. mutual information -- between an occupancy map and a range sensor measurement. The algorithm we derive has a lower complexity and in practice runs 200 to 1500 times faster than the state of the art CSQMI and FSMI algorithms. The speedup is due to the realization that the mutual …
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Autonomous Racing and Overtaking for the Voyager Unmanned Ground Vehicle
… and mapping (SLAM), and the resulting occupancy grid is processed to extract the centreline and track widths. The extracted centreline is parameterised to produce a reference trajectory for the vehicle, represented by a piecewise linear spline as a function of a progress variable. The …
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