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 29 for “"perception systems"”.
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Towards Automated Design of Machine Perception Systems
Animal's visual perception systems have evolved to their environment over billions of years, enabling them to navigate, avoid predators, and hunt prey. In contrast, machine perception systems designed by humans require significant engineering and often use standard cameras that may not be well …
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Enhancing Perception Systems using V2V Sensor Fusion
… of autonomous vehicles that depend on complex perception systems to make safety critical judgments, it is necessary to test and improve them. One of the ways this can be done is through vehicle-to-vehicle communication. This concept has been around for decades but was first standardized in …
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THE FUNCTIONAL ROLES OF THE MOTION PERCEPTION SYSTEMS
… determine the functional differences between the systems that utilize these sources of information. In the context of perception of time-to-contact, flow-based information is used to perceive objects moving at high velocity and disparity-based information is used to perceive objects moving at low …
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Localized Visual Aberration Detection and Suppression Dataset for UAV Perception Systems
Depth perception is an essential component of autonomous mobile robotics platforms. Due to size and weight limitations, a monocular camera system is typically best suited to collect this data. However, using these setups for depth perception can result in poor depth mapping in areas of the frame …
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Autonomous Vehicle Perception Quality Assessment
… (AVs) has necessitated the need for high-quality perception systems. Perception is a fundamental requirement for AVs, with cameras and LiDARs being commonly used sensors for environmental understanding and localization. However, there is a research gap in assessing the quality of AVs perception …
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Broadband World Modeling and Scene Reconstruction
Perception is a key feature in how any creature or autonomous system relates to its environment. While there are many types of perception, this thesis focuses on the improvement of the visual robotics perception systems. By implementing a broadband passive sensing system in conjunction with current …
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Nonparametric directional perception
Artificial perception systems, like autonomous cars and augmented reality headsets, rely on dense 3D sensing technology such as RGB-D cameras and LiDAR. scanners. Due to the structural simplicity of man-made environments, understanding and leveraging not only the 3D data but also the local …
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Multi-Objective Generation of Pareto-Optimal Perception Architectures for Autonomous Robotic Systems
Designing perception systems for autonomous robots and vehicles requires balancing sensor performance against cost, complexity, and integration constraints. This thesis introduces GO4R (Generation and Optimization of Perception System Architectures for Robotics), a multi-objective framework that …
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Aquaculture Basket Detection and Tracking for Autonomous Surface Vehicles
… contributions to the electronics, controls, and perception systems of the Oystermaran project. In particular, it presents an oyster basket detection and tracking method using the object detector You Only Look Once (YOLO) [2]. In addition, the electronics system has been updated and new manual …
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Resilient Object Perception for Robotics
… geometry of objects in the environment. Object perception needs to reliably work in a variety of scenarios and preserve a desired level of performance in the face of outliers and shifts from the training domain. Obtaining such a level of performance requires robust estimation algorithms that are …
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Efficient Multi-Sensor Fusion for 3D Perception
… to realizing widespread autonomous driving, 3D perception systems have come to be heavily studied in the community. However, many solutions are solely focused on merely achieving the highest accuracy – overlooking other practical considerations such as speed and cost. In this thesis, I develop …
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Implementation of Semantic SLAM on a Mobile Manipulator System
… robotic manipulators paired with visual perception systems. However, accomplishing more complex, varied, and spatially distributed tasks in real-world home environments requires a mobile platform with a more human-like form factor. These tasks demand greater flexibility, spatial …
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Towards Multimodal Streaming Perception: A Real-Time Perception Scheduling Framework Based on Relevance
… collaboration (HRC) applications, multiple perception modules jointly extract visual, auditory, and contextual cues to achieve comprehensive scene understanding, enabling the robot to provide appropriate assistance to human agents intelligently. While executing multiple perception modules on …
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A Comprehensive Mapping and Real-World Evaluation of Multi-Object Tracking on Automated Vehicles
… is a field critical to Automated Vehicle (AV) perception systems. However, it is large, complex, spans research fields, and lacks resources for integration with real sensors and implementation on AVs. Factors such those make it difficult for new researchers and practitioners to enter the …
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Evaluating the Feasibility of Integrating Webcam-Based Eye Tracking into Hazard Perception Assessments
Hazard perception is fundamental to driver safety, yet current assessment methods, including those employed by the UK Driver and Vehicle Standards Agency (DVSA), rely primarily on reaction-time-based scoring and ofer limited insight into the attentional processes underlying hazard detection. …
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Algorithms and Systems for Scalable Multi-Agent Geometric Estimation
… is a crucial capability for multi-agent systems. However, achieving scalable collaborative estimation in the real world is challenging. On one hand, solving the underlying geometric optimization problems is hard due to the coupling among agents and poor numerical conditioning. On the …
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Designing Umeli: A Case for Medsersiated Design, a participatory approach to designing interactive systems for semi-literate users
… yearnings and desires, replacing our own perception systems requirements. Siyazenzela, representing a communal participatory approach to doing life; and Ubuntu, which captures the spirit behind Africa’s communal identity, which were all adopted into the original EAR framework. In this …
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Applications of Large Language Models for Robot Navigation and Scene Understanding
… object classes, commonly generated by spatial perception systems. We detail three language-only approaches (zero-shot, embedding-based, and structured language) as well as two vision-and-language approaches (zero-shot and fine-tuned), finding that language-leveraging systems outperform both …
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Reliable Robotic Perception: From Outlier-Robust Estimation to Task-Aware Runtime Monitoring
Reliable perception is a key prerequisite for safe operation of robots and autonomous vehicles. The future of the field relies on public trust and provable correctness of behavior in real-world scenarios. Though commonly used, testing and simulation alone are insufficient to ensure correctness and …
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Upper Body Design of a Humanoid Robot for the DARPA Robotics Challenge
… initial robots keeping power, computation, and perception systems off-board while developing the actuators and algorithms to enable locomotion. As technology has improved humanoid and exoskeleton systems have finally incorporated all the various subsytems to build a full independent system. Many …
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