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 6 of 6 for “"Pose error"”.
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Localization for teams of autonomous ground vehicles
… with the robots’ on-board IMUs and encoders. The error observed from the uncorrected UWB ranges was quantified for line-of-sight conditions, and a calibration procedure was developed and applied for UWB range correction. Four localization approaches were implemented and tested on a ground robot in …
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Development and Characterization of an Interprocess Communications Interface and Controller for Bipedal Robots
… thesis is the quantification of end-effector pose error incurred by whole-body motions. This phenomenon has been observed on both THOR and ESCHER as one of their arms moves through a trajectory, however, it has never been studied in depth on either robot. The results demonstrate that the Valor …
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Global Localization and Guided Relocalization in Unstructured Environments using Semantic Objects
… on the KITTI dataset [15] achieve an average pose error of 3.8m across all 35 localization events on Sequence 00 when localizing in a reference map created from aerial images. Compared to existing works, this pipeline is more generalizable because it can perform global localization in …
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Error modeling of the carpal wrist
… are identical. This thesis investigates the errors that result from those assumptions being violated due to manufacturing and assembly errors. In the non-ideal model, pose error is found by iteratively solving a system of equations describing the output plane position and orientation and …
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Mapping with mobile robots
… time of cycle closing, the robot's accumulated pose error <br>might be unboundedly large. We describe an efficient version of the <br>Rao-Blackwellized mapping approach. Using a Rao-Blackwellized <br>particle filter is a good techniques for estimating the posterior. In <br>combination with the …
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Conformal Tracking For Virtual Environments
… which employs fiduciary marks to determine the pose of a tracked object. A collection of markers arranged in a rigid configuration is called a tracking probe. The performance of marker-based tracking systems depends upon the fidelity of the pose estimates provided by tracking probes. The …