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 20 of 30 for “"Place Recognition"”.
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Collaborative Appearance-Based Place Recognition and Improving Place Recognition Using Detection of Dynamic Objects
… to the problem of Long-Term Appearance-Based Place Recognition. We present a framework for place recognition in a collaborative scheme and a method to reduce the impact of dynamic objects on place representations. We demonstrate our findings using a state-of-the-art place recognition …
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Visual Place Recognition for Autonomous Robots
… robotics community, this problem is termed as place recognition. Place recognition using only visual input is termed as Visual Place Recognition (VPR) and refers to the ability of an autonomous system to recall a previously visited place using only visual input, under changing viewpoint, …
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Visual Place Recognition under Severe Viewpoint and Appearance Changes
… Localization and Mapping (SLAM). Visual Place Recognition (VPR), a core component of SLAM is a well-known paradigm. In layman terms, at a certain place/location within an environment, a robot needs to decide whether it’s the same place experienced before? Visual Place Recognition …
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Place Recognition Anywhere Model for Efficient Large-scale Localization
… environments. In this thesis, we propose the place recognition anywhere model (PRAM) for efficient and accurate visual localization. Specifically, (1) instead of defining landmarks on classic semantic labels, e.g., buildings, PRAM generates landmarks in 3D space automatically in a …
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Spatial Computing Frameworks for Adaptive Disaster Response and Visual Place Recognition
… to provide geolocation on the Moon is Visual Place Recognition (VPR), which involves matching one or multiple image sets in order to determine which images show the same places in the world. As there is a severe lack of lunar imagery to train our models on, we have created a model, Despina, …
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Place recognition for GNSS-denied autonomous multi-robot search and rescue
… This thesis explores solutions to the place recognition problem for UAVs under a dense forest canopy. The perception and communication challenges in a forest environment are explored for a multi-UAV system. A survey of existing place-recognition and multi-agent simultaneous localization …
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Energy-efficient spiking neural network-based visual place recognition and reinforcement learning in adversarial scenarios
Submission published under a 24 month embargo labeled 'Closed Access', the embargo will last until 2027-05-01
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Hypothesize-and-verify Based Solutions For Place Recognition And Mobile Robot Self-localization In Interior Hallways
… has came out of this research is that of visual place recognition and self-localization. This is the problem that forms the focus of the present dissertation. We show how dense and accurate 3D models of the interior space can be constructed using a hierarchical sensor-fusion architecture. Our …
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Utility-based map reduction for ground and flight vehicle navigation
… include a database of location descriptions for place-recognition (to enable localization or loop-closing), which permits bounded-error navigation performance. A standard localization system must describe the entire operational environment in its place-recognition database. A standard …
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Learning significant user locations with GPS and GSM
This thesis addresses the tasks of place discovery and place recognition - learning and recognizing places significant to a user - by analyzing GPS location and GSM cell tower data collected from the user's mobile phone. Location provides valuable context into the user's environment, and …
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Underwater Semantic Simultaneous Localization and Mapping
… Finally, a formulation of open-set object-level place recognition as a graph matching problem is introduced. The formulation includes a method for calculating and tracking semantic uncertainty for open-set object detections. Experimental results on both underwater and terrestrial datasets …
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Deep Learning-Based Visual Localisation and Navigation for the Voyager Mobile Robotic Platform
… ResNet-50 model, is trained for visual place recognition using images captured from the robot’s environment. The model extracts discriminative feature embeddings which are stored in a FAISS index alongside corresponding position and orientation data obtained during a LiDAR-based (Light …
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The role of attention in spatial (dis)orientation of older adults.
… changes are declines in landmark-based place and route learning, which are the focus of this project. The work presented in this thesis seeks to enhance our understanding of the cognitive mechanisms which contribute to declining navigation ability, with a particular emphasis on …
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MONOCULAR VISUAL ODOMETRY
… scale factor in a monocular setup. Visual place recognition (VPR) can provide absolute pose estimates by matching the current camera frame to a database of reference images labeled with known coordinates. By using VPR to provide absolute pose estimates in the map and matching these …
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Development of a Data Collection System for Tightly Integrated GNSS, IMU, Radar, and LiDAR Navigation
… of visual localization algorithms like SLAM, place recognition, object detection and visual odometry that help navigate in sky-obstructed and GNSS-denied environments. However, GNSS still plays a vital role in providing the most assured navigation solution. In this thesis, we develop a robust …
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Hdac6 Inhibition Reverses Long-Term Doxorubicin-Induced Cognitive Dysfunction By Restoring Microglia Homeostasis
… assessed by the puzzle box test and novel object/place recognition test. Long-term CICD was associated with a decreased expression of the postsynaptic protein PSD95, but no decrease in the presynaptic protein synaptophysin, in the hippocampus. I did not detect a significant decrease in …
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Robust and efficient robotic mapping
… however, a robot must first be able to recognize places that it has previously seen. Limitations in sensor processing algorithms, coupled with environmental ambiguity, make this difficult. Incorrect place recognitions can rapidly lead to divergence of the map. This thesis describes a place …
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Segmentation Based Tracking for Aerial Robot Global Localization in Unstructured Environments with Oblique Monocular Camera Orientation
… unstructured environment. Many existing visual place recognition (VPR) methods fail to match visual features that look visually different due to appearance, illumination, or viewpoint changes and thus fail to localize. In this thesis, we demonstrate the shortcomings of previous work to …
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Early Onset Alzheimer’s Disease Markers in Mouse Hippocampus Unveiled by Single-Cell Transcriptomic Analysis Following Cranial Radiotherapy
… skills using the Puzzle Box and Novel Object Place Recognition tests revealed a decline in cognitive abilities among irradiated mice. Accompanying the deterioration of cognitive skills, transcriptional shifts identified multiple sex, region and cell type specific altered pathways following …
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The role of semaphorin 3A signaling underlying learning and memory formation in the postnatal mouse brain
… following spatial learning on a novel object place recognition (NOPR) task, suggesting that Sema3A signaling is critical for the consolidation of spatial information. Together, these findings suggest that Sema3A signaling continues to play a key role in the mature nervous system.
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