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 17 of 17 for “"simultaneous localisation and mapping"”.
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Multi-session Visual Simultaneous Localisation and Mapping
… capable of long term autonomy in unstructured and unknown environments. Such autonomy will only be achieved through algorithms that permit robots to perceive, interpret, and interact with the world they inhabit. The foundation to such algorithms is the ability to build and maintain a map of the …
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Towards pedestrian simultaneous localisation and mapping with mobile phones
… systems (IPS) are very commonly used in robotics and are essential for many autonomous operations as GPS can be unreliable indoors and is therefore infeasible for such applications. In this paper we lay the groundwork for a pedestrian positioning system, which can map indoor spaces and track …
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Real-time Dense Simultaneous Localisation and Mapping over Large Scale Environments
… robot to create a map of an unknown environment and localise within that map is of critical importance in intelligent autonomous operation. This problem is referred to as Simultaneous Localisation and Mapping (or SLAM) and has been one of the major focusses of robotics research over the past 25 …
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Using regions of interest to track landmarks for RGBD simultaneous localisation and mapping
The simultaneous localisation and mapping (SLAM) algorithm have been widely used for autonomous navigation of robots. A type of visual SLAM that is popular among the researchers is RGBD SLAM. However processing immense image data to identify and track landmarks in RGBD SLAM can be computationally …
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Stereo visual simultaneous localisation and mapping for an outdoor wheeled robot: a front-end study
… an environment is a crucial step in autonomy and Visual Simultaneous Localisation and Mapping (vSLAM) has seen increased effective usage in this capacity. However, vSLAM is strongly dependent on the context in which it is applied, often using heuristic and special cases to provide efficiency …
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A hybrid approach for intersection management in V2X-enabled connected vehicles
… transportation by enhancing safety, efficiency, and convenience. However, AVs face significant challenges in complex urban environments, particularly in accurately perceiving and navigating through intersections mainly due to occlusions. This thesis addresses these challenges by integrating …
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Localisation, tracking, and navigation support for pedestrians in uninstrumented and unknown environments
Research into localisation and tracking of pedestrians is a growing area, but developed techniques have tended to be infrastructure-based or to rely on accessto prior information such as floorplans and maps. There are situations, such assearch and rescue missions, where more robust and versatile …
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Towards Observable Urban Visual SLAM
Visual Simultaneous Localisation and Mapping (V-SLAM) is the subject of robot state and environment map estimation by drawing inference on camera captured data. It has been a major branch of research and popular in application owing to the rich information and low cost in vision measurement …
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Multiple Mobile Robot SLAM for collaborative mapping and exploration
… themselves reliably relative to the map. Simultaneous Localisation and Mapping (SLAM) address the problem of both map building and robot localisation. When exploring large areas, Multi-Robot SLAM (MRSLAM) has the potential to be far more efficient and robust, while sharing the …
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Autonomous Racing and Overtaking for the Voyager Unmanned Ground Vehicle
… vehicle (UGV) to perform autonomous racing and dynamic obstacle avoidance. Two obstacle-avoidance formulations are evaluated separately under matched scenarios: (i) a cost-function (soft) penalty on vehicle–to–obstacle proximity and (ii) hard inequality constraints enforcing minimum …
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Deep Learning-Based Visual Localisation and Navigation for the Voyager Mobile Robotic Platform
… are becoming increasingly popular in industrial and research environments and are employed to perform repetitive or hazardous tasks without direct human intervention. One major challenge in autonomous navigation lies in reliably estimating a robot’s position and orientation, known as …
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Geometry model for marker-based localisation
… have great capability in reaching precise and accurate measurements and are becoming the state-of-the-art innavigation. Navigation systems have only been integrated in commercial mobile robots since the early 2000s, and yet localisation in a dynamic environmentthat form the main building …
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Online Structured Learning for Real-Time Computer Vision Gaming Applications
… role in the development of computer games, and it now features as one of the core technologies for many gaming platforms. The work in this thesis addresses three problems in real-time computer vision, all of which are motivated by their potential application to computer games. We rst present …
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Occlusion prediction for kiwifruit yield estimation
Kiwifruit is very important to the New Zealand economy, bringing in NZ$2.39 billion in the 2017/2018 season and projected to grow to NZ$4.5 billion by 2025. Every season, the expected yield from each orchard is estimated. These estimates are used for both on-orchard decisions regarding thinning and …
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Object-centric Mapping
… fundamentally different from conventional 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 …
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Detection and tracking of multiple targets using wireless sensor networks - Detección y seguimiento de múltiples blancos en redes inalámbricas de sensores
… the development of algorithms for the detection and tracking of multiple targets using wireless sensor networks from the Bayesian standpoint. This is achieved by calculating the probability density function (PDF) of the multitarget state given the sensor measurements (posterior PDF) as it …
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Manifold Optimization for Robotic Perception
… perception. This entails the ability to perceive and understand about the unstructured world from the sensor modalities, which would allow it to navigate autonomously through the environment to accomplish a task. Recent years have witnessed an unprecedented enthusiasm in robotic perception …