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 18 of 18 for “"pose estimate"”.
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Visual Terrain Relative Navigation: Pose Estimation, Neural Fields, and Verification
… (TRN) is a method for GPS-denied absolute pose estimation using a prior terrain map and onboard camera. TRN is commonly desired for applications such as planetary landings, unmanned aerial vehicles (UAVs), and airdrops, where GPS is either unavailable or cannot be relied upon due to both …
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Dense, sonar-based reconstruction of underwater scenes
… mainly on the individual accuracies of (i) its pose estimate in some global frame, (ii) the estimates of offsets between mapping sensors and platform, and (iii) the accuracy of the mapping sensor measurements. Typically, surface-based surveying platforms will employ highly accurate positioning …
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Handheld Antenna Assessment Based on CV Ego-motion Position and Orientation Estimation of a Mobile Device
… The underlying hypothesis is that if the pose of the mobile device can be estimated with sub-millimetre accuracy over a time epoch, then a quantitative assessment of the array performance would be possible. This thesis made use of a single antenna to demonstrate the alignment between the …
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MONOCULAR VISUAL ODOMETRY
… 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 estimates to the relative poses from monocular VO or …
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Dense, sonar-based reconstruction of underwater scenes
… mainly on the individual accuracies of (i) its pose estimate in some global frame, (ii) the estimates of offsets between mapping sensors and platform, and (iii) the accuracy of the mapping sensor measurements. Typically, surface-based surveying platforms will employ highly accurate positioning …
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State estimation for autonomous mobile systems: Multi-IMU self-calibration and localization using 3D Gaussian splatting maps
… tasks to succeed, it is crucial to properly estimate and correct the parameters modeling the discrepancy between expected and actual sensor measurements. When using multiple sensors, establishing the relative pose between them—a task referred to as extrinsic calibration—is particularly …
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From interest points to map transformation: a discussion of RGB-D SLAM and its applications
… of frames captured using such a sensor. Such estimates give the initial pose estimate of each frame. They are encoded as edge constraints in the pose graph and integral in SLAM's recovery of the optimal trajectory of poses. BRISK and FREAK feature detectors using FLANN and brute-force matchers …
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Long-range outdoor monocular localization with active features for ship air wake measurement
Monocular pose estimation is a well-studied aspect of computer vision with a wide array of applications, including camera calibration, autonomous navigation, object pose tracking, augmented reality, and numerous other areas. However, some unexplored areas of camera pose estimation remain …
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Semi-Dense Stereo Reconstruction from Aerial Imagery for Improved Obstacle Detection
… reconstruction using a stereo camera for the purpose of obstacle detection and mapping is presented. In this application, a UAV works collaboratively with a UGV to provide high level information of the environment by using a downward facing stereo camera. The approach uses frame to frame SURF …
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Ultrasound probe localization by tracking skin features
… is built based on skin features and the probe poses are estimated. Each pose estimate is refined in a Bayesian probabilistic framework that incorporates visual SLAM, ultrasound images, and a prior motion model. Extraction of human skin features and their distinctiveness in the context of probe …
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Aggressive Aerial Grasping using a Soft Drone with Onboard Perception
… and morphologically varied objects. The proposed system features a novel passively closing tendon-actuated soft gripper that enables fast closure at grasp, while compensating for position errors, complying to the target-object morphology, and dampening reaction forces. The system includes an …
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Deep Learning-Based Visual Localisation and Navigation for the Voyager Mobile Robotic Platform
… ResNet-50 model and queried with stored index to estimate the most likely pose of the mobile robot. This pose serves as an initial pose estimate for the popular Real-Time Appearance-Based Mapping (RTAB-Map) Simultaneous Localisation and Mapping (SLAM) system, which then refines the localisation …
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Optimization Techniques for Trustworthy 3D Object Understanding
… object given sensor data and some set of priors. Pose estimation seeks an estimate of the object’s position and orientation relative to an invariant shape frame. In general, these problems are non-convex and thus difficult to solve. We present algorithms which nonetheless solve shape and pose …
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Fast upper body pose estimation for human-robot interaction
This work describes an upper body pose tracker that finds a 3D pose estimate using video sequences obtained from a monocular camera, with applications in human-robot interaction in mind. A novel mixture of Ornstein-Uhlenbeck processes model, trained in a reduced dimensional subspace and designed …
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Model Free Human Pose Estimation with Application to the Classification of Abnormal Human Movement and the Detection of Hidden Loads
… can be used to identify people by their gait, estimate a subject's kinematic configuration and identify abnormal motion. The focus of this thesis is a system that accurately classifies observed motions without the use of an explicit spatial or temporal model. The visual detection of hidden …
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Exploration and mapping with mobile robots
… <br> <br>To deal with the uncertainty in the pose of a robot, we present a <br>solution to the simultaneous localization and mapping problem. The <br>difficulty in this context is to build up a map while at the same time <br>localizing the robot in this map. Our approach maintains a joint …
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Real-time Dense Simultaneous Localisation and Mapping over Large Scale Environments
… often coupled with dense methods is General- Purpose computing on Graphics Processing Units (GPGPU) which exploits the massive parallelism available in GPU hardware to perform high speed and often real-time processing on entire images every frame. Being an affordable commodity technology, …
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Practical investigations in robot localization using ultra-wideband sensors
Made available in DSpace on 2021-09-17T01:13:41Z (GMT). No. of bitstreams: 3 WRIGHT-THESIS-2021.pdf: 45609799 bytes, checksum: 439b4bdb74e822cbda9343111030ecba (MD5) THESIS_NAWW.docx: 469786325 bytes, checksum: 3836a8b433cc05dd39b21ca875405ae8 (MD5) LICENSE.txt: 4212 bytes, checksum: …