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 8 of 8 for “"visual place recognition"”.
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Visual Place Recognition for Autonomous Robots
… robotics community, this problem is termed as place recognition. Place recognition using only visual input is termed as Visual Place Recognition (VPR) and refers to the ability of an autonomous system to recall a previously visited place using only visual input, under changing viewpoint, …
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Visual Place Recognition under Severe Viewpoint and Appearance Changes
… advancements in long-term robotic vision. Visual localization is the constituent of this active research domain; an ability of an object to correctly localize itself while mapping the environment simultaneously, technically termed as Simultaneous Localization and Mapping (SLAM). Visual …
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Spatial Computing Frameworks for Adaptive Disaster Response and Visual Place Recognition
… solution to provide geolocation on the Moon is Visual Place Recognition (VPR), which involves matching one or multiple image sets in order to determine which images show the same places in the world. As there is a severe lack of lunar imagery to train our models on, we have created a model, …
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Energy-efficient spiking neural network-based visual place recognition and reinforcement learning in adversarial scenarios
Submission published under a 24 month embargo labeled 'Closed Access', the embargo will last until 2027-05-01
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Deep Learning-Based Visual Localisation and Navigation for the Voyager Mobile Robotic Platform
… This thesis presents a deep learning-based visual localisation method and navigation stack implementation for the Voyager mobile robotic platform, which aims to solve a variation of the kidnapped robot problem. A convolutional neural network (CNN), specifically a fine-tuned ResNet-50 model, …
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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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Hypothesize-and-verify Based Solutions For Place Recognition And Mobile Robot Self-localization In Interior Hallways
… in having mobile robots build accurate and visually dense models ofinterior space as they traverse through such spaces. One of the interesting problems that has came out of this research is that of visual place recognition and self-localization. This is the problem that forms the focus of …
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Segmentation Based Tracking for Aerial Robot Global Localization in Unstructured Environments with Oblique Monocular Camera Orientation
… angles, traditional methods fail to match visual features and thus fail to localize. The technical gap that this thesis addresses is when autonomous vehicles within a team are mapping the same environment from different viewpoints, specifically nadir and an oblique camera orientations in an …