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 9 of 9 for “"Semantic SLAM"”.
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Experimental Evaluation of Underwater Semantic SLAM
… navigation abilities, facilitated by processing semantic visual information and applying it to map generation and localization. To address the limited autonomy of current AUVs and enhance their capability for complex missions, this thesis presents the development and evaluation of a real-time, …
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Toward robust active semantic SLAM via Max-Mixtures
… and LIDAR sensor data into a sparse map of semantic 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 …
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Implementation of Semantic SLAM on a Mobile Manipulator System
… its functionality, including software for semantic perception, task execution, and environment interaction. This thesis provides a technical overview of these tools, highlighting their roles in collecting new datasets that can be used for semantic SLAM research. In the future, these tools …
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3D Spatial Perception with Real-Time Dense Metric-Semantic SLAM
… dense, photometrically accurate, and semantically annotated. We define these maps as metric-semantic maps, and provide algorithms to build such maps in real-time. Metric-semantic maps allow both humans and robots to have a shared understanding of the scene, while providing the robot …
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Underwater Semantic Simultaneous Localization and Mapping
Building semantically meaningful object level maps of underwater environments is crucial for enabling higher-level autonomy, fostering human-robot collaboration, and providing compressed map representations for bandwidth-constrained underwater communications, while localizing against such maps can …
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Robust non-Gaussian semantic simultaneous localization and mapping
… representations for robot navigation; i.e. semantic simultaneous localization and mapping (SLAM), in which we aim to jointly estimate the pose of the robot over time as well as the location and semantic class observed objects. A solution to the semantic SLAM problem necessarily addresses the …
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Robust non-Gaussian semantic simultaneous localization and mapping
… representations for robot navigation; i.e. semantic simultaneous localization and mapping (SLAM), in which we aim to jointly estimate the pose of the robot over time as well as the location and semantic class of observed objects. A solution to the semantic SLAM problem necessarily addresses …
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Software and Hardware Infrastructure for Visual-Inertial SLAM
… Simultaneous Localization and Mapping (SLAM) systems. SLAM is a fundamental problem in robot navigation and enables constructing or updating a representation (map) of an environment utilizing sensors on board a robot while concurrently using that representation to localize the robot …
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Object-centric Mapping
… visual Simultaneous Localisation and Mapping (SLAM) that describes the geometry of an environment using geometric entities, such as 3D points, voxels or surfels. Representing an environment at the level of objects captures both the semantic and geometric information of an environment. It is …