{"id":{"repo_id":"uiuc","oai_identifier":"oai:www.ideals.illinois.edu:2142/106391"},"canonical_url":"https://search.dev.ndltd.org/etd/uiuc/oai:www.ideals.illinois.edu:2142/106391","repository":{"repo_id":"uiuc","name":"University of Illinois - Urbana-Champaign","base_url":"https://www.ideals.illinois.edu/oai-pmh"},"display":{"title":"Active perception in visual simultaneous localization and mapping by feature / map point selection","abstract":"Made available in DSpace on 2020-03-02T22:15:17Z (GMT). No. of bitstreams: 3 SHANGGUAN-THESIS-2019.pdf: 2228824 bytes, checksum: 5b85d2af527e7f9f5ccd86676233811f (MD5) ZhengheShangguan_Thesis-Master.docx: 3626082 bytes, checksum: d163037c82f5c7bd6cd1d7b6167c7684 (MD5) LICENSE.txt: 4214 bytes, checksum: 6b8ec4a78130e240babe0555a6eeffbc (MD5) Previous issue date: 2019-12-11","abstract_html":"Made available in DSpace on 2020-03-02T22:15:17Z (GMT). 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No. of bitstreams: 3 SHANGGUAN-THESIS-2019.pdf: 2228824 bytes, checksum: 5b85d2af527e7f9f5ccd86676233811f (MD5) ZhengheShangguan_Thesis-Master.docx: 3626082 bytes, checksum: d163037c82f5c7bd6cd1d7b6167c7684 (MD5) LICENSE.txt: 4214 bytes, checksum: 6b8ec4a78130e240babe0555a6eeffbc (MD5) Previous issue date: 2019-12-11","Embargo set by: Seth Robbins for item 113933 Lift date: 2022-03-02T22:15:21Z Reason: Author requested U of Illinois access only (OA after 2yrs) in Vireo ETD system","Embargo set by: Seth Robbins for item 113933 Lift date: 2022-03-02T22:18:25Z Reason: Author requested U of Illinois access only (OA after 2yrs) in Vireo ETD system","U of I Only Restriction Lifted for Item 113933 on 2022-03-03T10:15:13Z.","One traditional and typical method to improve the computational efficiency of Visual Simultaneous Localization and Mapping (Visual SLAM) is selecting features which hold most contributions in estimating the pose in Tracking thread of SLAM. In this thesis, we first analyze the disadvantages of some most recent feature selection algorithms by adapting them onto ORB-SLAM2, then present a brand-new map point selection algorithm which significantly enhances the efficiency, while avoids some disadvantages in feature selection as well as keeps the accuracy at the same level. Finally, we test our map point selection algorithm on standard datasets with ORB-SLAM2 and analyze the performance improvement.","Submission published under a 24 month embargo labeled 'U of I Access', the embargo will last until 2021-12-01","The student, Zhenghe Shangguan, accepted the attached license on 2019-12-10 at 17:36.","The student, Zhenghe Shangguan, submitted this Thesis for approval on 2019-12-10 at 18:16.","This Thesis was approved for publication on 2019-12-11 at 08:38.","DSpace SAF Submission Ingestion Package generated from Vireo submission #14772 on 2020-02-28 at 17:24:14"]},{"key":"dc:format","label":"Dc Format","values":["application/pdf"]},{"key":"dc:title","label":"Title","values":["Active perception in visual simultaneous localization and mapping by feature / map point selection"]}]}],"canonical_facts":{"dc:contributor":["Bretl, Timothy W."],"dc:creator":["Shangguan, Zhenghe"],"dc:date":["2020-03-02T22:15:17Z","2022-03-03T10:15:13Z","2019-12-11","2019-12"],"dc:description":["Made available in DSpace on 2020-03-02T22:15:17Z (GMT). No. of bitstreams: 3 SHANGGUAN-THESIS-2019.pdf: 2228824 bytes, checksum: 5b85d2af527e7f9f5ccd86676233811f (MD5) ZhengheShangguan_Thesis-Master.docx: 3626082 bytes, checksum: d163037c82f5c7bd6cd1d7b6167c7684 (MD5) LICENSE.txt: 4214 bytes, checksum: 6b8ec4a78130e240babe0555a6eeffbc (MD5) Previous issue date: 2019-12-11","Embargo set by: Seth Robbins for item 113933 Lift date: 2022-03-02T22:15:21Z Reason: Author requested U of Illinois access only (OA after 2yrs) in Vireo ETD system","Embargo set by: Seth Robbins for item 113933 Lift date: 2022-03-02T22:18:25Z Reason: Author requested U of Illinois access only (OA after 2yrs) in Vireo ETD system","U of I Only Restriction Lifted for Item 113933 on 2022-03-03T10:15:13Z.","One traditional and typical method to improve the computational efficiency of Visual Simultaneous Localization and Mapping (Visual SLAM) is selecting features which hold most contributions in estimating the pose in Tracking thread of SLAM. In this thesis, we first analyze the disadvantages of some most recent feature selection algorithms by adapting them onto ORB-SLAM2, then present a brand-new map point selection algorithm which significantly enhances the efficiency, while avoids some disadvantages in feature selection as well as keeps the accuracy at the same level. Finally, we test our map point selection algorithm on standard datasets with ORB-SLAM2 and analyze the performance improvement.","Submission published under a 24 month embargo labeled 'U of I Access', the embargo will last until 2021-12-01","The student, Zhenghe Shangguan, accepted the attached license on 2019-12-10 at 17:36.","The student, Zhenghe Shangguan, submitted this Thesis for approval on 2019-12-10 at 18:16.","This Thesis was approved for publication on 2019-12-11 at 08:38.","DSpace SAF Submission Ingestion Package generated from Vireo submission #14772 on 2020-02-28 at 17:24:14"],"dc:format":["application/pdf"],"dc:identifier":["http://hdl.handle.net/2142/106391"],"dc:language":["en"],"dc:rights":["Copyright 2019 Zhenghe Shangguan"],"dc:subject":["SLAM","Computer Vision","Active Perception","Feature Selection","Map Point Selection","Mobile Robotics"],"dc:title":["Active perception in visual simultaneous localization and mapping by feature / map point selection"],"dc:type":["text"],"thesis:degree_discipline":["Mechanical Engineering"],"thesis:degree_level":["Thesis"],"thesis:degree_name":["M.S."],"thesis:institution_name":["University of Illinois at Urbana-Champaign"]},"updated_at":"2026-07-22T22:24:47Z"}