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 28 for “"visual odometry"”.
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MONOCULAR VISUAL ODOMETRY
When estimating a robot's egomotion from visual input alone using methods such as visual odometry (VO) or visual simultaneous localization and mapping (V-SLAM), motion can only be recovered only up to an unknown scale factor in a monocular setup. Visual place recognition (VPR) can provide absolute …
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Fusing visual odometry and depth completion
… with triangulations from a typical sparse visual odometry pipeline. We are then able to achieve a small improvement over the single image baseline and chart guidelines to assist in designing a system with even more substantial gains.
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Learning visual odometry primitives for computationally constrained platforms
… (SWAP) budget robots. Unlike for traditional odometry methods, in this case, a machine learning model can be trained offline, and can then generate odometry measurements quickly and efficiently. This thesis describes the implementation of the learning-based, visual odometry method in the …
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Planar Motion and Visual Odometry: Pose Estimation from Homographies
This thesis concerns ego-motion and pose estimation of a single camera under the assumptions of planar motion and constant internal camera parameters. Planar motion is common for cameras mounted onto mobile robots, particularly in indoor scenarios, as they remain at a constant height above the …
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Improved pose estimation accuracy of monocular deep visual odometry against dynamic entities via adversarial training
Submission original under an indefinite embargo labeled 'Open Access'. The submission was exported from vireo on 2024-09-16 without embargo terms
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Self-Supervised Learning for Geometry
… view depth estimation (mapping) and two view visual odometry (tracking) and propose a self-supervised framework, namely SelfTAM, which jointly learns the depth estimator and the odometry estimator. The self-supervised problem is usually formulated as an energy minimization problem consist of …
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Visual Inertial Odometry with Sparse Deep Learning
In the field of indoor navigation, visual and inertial sensors are essential to localizing a robot. Visual Inertial Odometry (VIO) systems try to figure out the position and orientation of a robot by analyzing data from cameras and inertial sensors. As state-of-the-art VIO systems achieve …
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Lightweight Mapping of Unstructured Environments
… on maximum path length. We show that a simple visual odometry system is capable of providing performance that is more accurate than GPS, with a relative transform error of 0.19m, without the need for techniques such as bundle adjustment or loop closure. Towards this contribution, we evaluate …
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Optimal Image-Aided Inertial Navigation
… efficient. The development of a loosely-coupled visual odometry aided inertial navigation algorithm. The fusion of the two sensors is usually performed using a Kalman filter. The pose changes are pairwise time-correlated, i.e. the measurement noise vector at the current epoch is only correlated …
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Learning Gaussisan noise models from high-dimensional sensor data with deep neural networks
… measurement covariances on a frame-to-frame visual odometry system reduce trajectory errors after a loop closure is applied.
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Indoor 3D Modeling Using Consumer Drones and Neural Simultaneous Localization and Mapping (SLAM) for Virtual Reality
… include a cloud-based framework integrating visual odometry and neural simultaneous localization and mapping (SLAM), enabling real-time 3D reconstruction from drone video feeds without global positioning systems. The system achieves 21.06 frames per second on NVIDIA RTX 4070 Ti while …
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From interest points to map transformation: a discussion of RGB-D SLAM and its applications
… are analyzed. Their suitability for use in visual odometry estimation is investigated. A method of automatically tuning the BRISK-AGAST detector so as to produce a consistent number of features is developed and studied in the context of RGB-D SLAM. An augmented reality application making use …
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Predictive parameter estimation for Bayesian filtering
… scan-matcher, an optical flow system, and a visual odometry system. I show that filtering using covariances predicted by CELLO can quantitatively improve estimator accuracy and consistency, both relative to a fixed covariance model and relative to carefully tuned domain-specific covariance …
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Detection of dynamic obstacles out of the line of sight for autonomous vehicles to increase safety based on shadows
… For the image registration step we compare a visual odometry method (i.e. DSO) with a fiducial marker system (i.e. AprilTags). The mean classification accuracy on simulated data is around 80% and on real-world corners approximately for both image registration methods 70%. Additionally, we …
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Development of a Data Collection System for Tightly Integrated GNSS, IMU, Radar, and LiDAR Navigation
… focus on validating different variations of visual localization algorithms like SLAM, place recognition, object detection and visual odometry that help navigate in sky-obstructed and GNSS-denied environments. However, GNSS still plays a vital role in providing the most assured navigation …
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Real Time SLAM Using Compressed Occupancy Grids For a Low Cost Autonomous Underwater Vehicle
… to objects in an underwater environment. A visual odometry algorithm is introduced that makes use of a downward facing camera to provide our underwater vehicle with localization information. The sensor suite composed of the laser rangefinder, downward facing camera, and a digital compass are …
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Using 3D Visual Data to Build a Semantic Map for Autonomous Localization
… carry out tasks. Traditional maps built by visual sensors include metric ones and topological ones. These maps are navigation-oriented and not adequate for service robots or intelligent gadgets to interact with or serve human users who normally rely on conceptual knowledge or semantic …
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Significance of omnidirectional fisheye cameras for feature-based visual SLAM
… for navigation is typically referred to as visual simultaneous localization and mapping (SLAM), where a robot both estimates its pose and reconstructs its environment simultaneously using only cameras. Most existing work for visual SLAM relies on the use of the pinhole camera model, which …
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Visual-Inertial State Estimation With Information Deficiency
… it is the first step to image rendering. Visual-inertial odometry (VIO) is the de-facto standard algorithm for embedded platforms because it lends itself to lightweight sensors and processors, and maturity in research and industrial development. Various approaches have been proposed to …
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Perception and Control Methods for Improving the Autonomy of Off-Road Robots
… under light conditions that are challenging for visual perception. This thesis aims at improving the autonomy of off-road robots by addressing two key problems encountered with RoverII. First, it requires a suspension to quickly traverse uneven terrain. As a result, the control of its robotic …
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