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 100 for “"Simultaneous localization and mapping (SLAM)"”.
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Indoor 3D Modeling Using Consumer Drones and Neural Simultaneous Localization and Mapping (SLAM) for Virtual Reality
This thesis explores an accessible indoor mapping system utilizing consumer-grade drones, addressing inefficiencies in traditional indoor spatial capture methods. The research demonstrates high-quality mapping accuracy with consumer hardware, creates a modular architecture for simplified operation, …
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On the utilization of Simultaneous Localization and Mapping(SLAM) along with vehicle dynamics in Mobile Road Mapping Systems
Mobile Road Mapping Systems (MRMS) are the current solution to the growing demand for high definition road surface maps in wide ranging applications from pavement management to autonomous vehicle testing. The focus of this research work is to improve the accuracy of MRMS by using the principles of …
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Effects of different camera motions on the error in estimates of epipolar geometry between two dimensional images in order to provide a framework for solutions to vision based Simultaneous Localization and Mapping (SLAM)
This thesis explores the effect camera motion and feature tracking have on the estimations of an epipolar geometry at different stages of a 3D reconstruction and relates the findings to a framework for vision based Simultaneous Localization and Mapping (SLAM). Although there have been previous …
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Feature-relative real-time obstacle avoidance and mapping
… performance. This thesis integrates the robust and generic mapping framework Atlas, a feature-based local Simultaneous Localization and Mapping (SLAM) module, and obstacle avoidance using information from mapped features. The resulting system performs autonomous feature-relative Real-time …
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Design and implementation of a magnetic rotary wheel encoder for a self-driving robotic vehicle
… campus. In an effort to assist the system's simultaneous localization and mapping (SLAM) algorithm, this magnetic wheel encoder was designed and implemented to more accurately and directly determine the vehicle's trajectory. After mounting the magnets and sensors, an algorithm was developed …
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Building An Autonomous Indoor Drone System
… autonomous flight indoors we choose to use simultaneous localization and mapping (slam) as our positioning system. The contributions of this thesis is an in depth guide to the hardware and assembly of a drone system, the software required for a basic drone set-up as well as additional …
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Open-Set Object Based Data Association
… world using sparse objects allows for compact and semantically meaningful maps in simultaneous localization and mapping (SLAM). Traditionally, object detectors trained on a specific set of objects, such as the YCB objects, are used to provide input to the data association problem, which limits …
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Towards a Visual Simultaneous Localization and Mapping System for Computationally Constrained Systems
… exploration missions such as sample retrieval and in-situ resource utilization will require more accurate localization techniques such as Simultaneous Localization and Mapping (SLAM) to achieve the science goals. In this thesis, a visual SLAM system aimed towards computationally constrained …
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Robust non-Gaussian semantic simultaneous localization and mapping
… 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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Semi-direct visual SLAM for stereo cameras: system design and validation
Simultaneous Localization and Mapping (SLAM) requires an autonomous vehicle in an unknown environment to learn about the environment, generates a map and localize itself at the same time. To solve this problem, various types of sensors are equipped to gather information. Nowadays, with the …
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Autonomous ground cover clearing utilizing a robotic wheel loader
… ongoing need to remove ground covering such as sand, dirt and snow poses dangers to workers, from fatigue and repetitive work injures, to direct harm in hazardous locations. To address these challenges a robotic system capable of autonomous clearing of non-compacted material is presented, …
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Enhancing Body-Mounted LiDAR SLAM using an IMU-based Pedestrian Dead Reckoning (PDR) Model
With the reduction in motion sensors' cost and power, Simultaneous Localization and Mapping (SLAM) has emerged as a core technology in several applications such as search-and-rescue, first-responders, and defence. Existing SLAM methods were designed mainly for robotic platforms that use wheel …
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Monocular vision based navigation using image moments of polygonal features
… thesis presents a novel monocular-vision-based localization and mapping algorithm using moments of polygon features. The landmarks we use are polygonal regions instead of a dense set of feature points, which can significantly reduce the computational complexity of data association and produce a …
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Reduced order extended kalman filter incorporating dynamics of an autonomous underwater vehicle for motion prediction
Autonomous Underwater Vehicles (AUVs) and Remotely Operated Vehicles (ROVs) are used for a wide variety of missions such as exploration and scientific research. One key challenge for these autonomous vehicles is the creation of a reliable motion prediction. Kinematic Extended Kalman Filters (EKF) …
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Additively Manufactured Open-Source Quadruped Robots for Multi-Robot SLAM Applications
This thesis presents the design and development of the quadruped robot Squeaky, created as a research and learning platform for single and multi-robot simultaneous localization and mapping (SLAM), computer vision, and reinforcement learning. Affordable robots are increasingly essential for scaling …
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Multiple relative pose graphs for cooperative mapping
This thesis describes a new representation and algorithm for cooperative and persistent simultaneous localization and mapping (SLAM) using multiple robots. Recent pose graph representations have proven very successful for single robot mapping and localization. Among these methods, iSAM (incremental …
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Using Negative Information in simultaneous localization and mapping
… utilizing available information from sensors and intelligently processing that information to determine the state of the robot and its environment. This thesis explores a topic often ignored in the Simultaneous Localization And Mapping (SLAM) literature: the utility of including Negative …
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A Comparative Study of Feature Detection Methods for AUV Localization
<p>Underwater localization is a difficult task when it comes to making the system autonomous due to the unpredictable environment. The fact that radio signals such as GPS cannot be transmitted through water makes autonomous movement and localization underwater even more challenging. One specific …
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Range-based navigation of AUVs operating near ship hulls
… maintenance as well as for timely detection and neutralization of limpet mines planted on military and commercial vessels. While a host of inspection methods have been proposed for this task, Autonomous Underwater Vehicles (AUVs) are particularly well-suited for such missions as they require …
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Multi-modal motion planning using composite pose graph optimization
… transcribing cost function, vehicle dynamics, and state and control constraints into a sparse factor graph is introduced. By formulating the motion planning problem in pose graph form, the motion planning problem can be addressed using efficient optimization techniques, similar to those already …
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