{"id":{"repo_id":"vt","oai_identifier":"oai:vtechworks.lib.vt.edu:10919/94425"},"canonical_url":"https://search.dev.ndltd.org/etd/vt/oai:vtechworks.lib.vt.edu:10919/94425","repository":{"repo_id":"vt","name":"Virginia Tech","base_url":"https://vtechworks.lib.vt.edu/oai/request"},"display":{"title":"On the utilization of Simultaneous Localization and Mapping(SLAM) along with vehicle dynamics in Mobile Road Mapping Systems","abstract":"Mobile Road Mapping Systems (MRMS) are the current solution to the growing demand for high definition road surface maps in wide ranging applications from pavement management to autonomous vehicle testing. The focus of this research work is to improve the accuracy of MRMS by using the principles of Simultaneous Localization and Mapping (SLAM). First a framework for describing the sensor measurement models in MRMS is developed. Next the problem of estimating the road surface from the set of sensor measurements is formulated as a SLAM problem and two approaches are proposed to solve the formulated problem. The first is an incremental solution wherein sensor measurements are processed in sequence using an Extended Kalman Filter (EKF). The second is a post-processing solution wherein the SLAM problem is formulated as an inference problem over a factor graph and existing factor graph SLAM techniques are used to solve the problem. For the mobile road mapping problem, the road surface being measured is one the primary inputs to the dynamics of the MRMS. Hence, concurrent to the main objective this work also investigates the use of the dynamics of the host vehicle of the system to improve the accuracy of the MRMS. Finally a novel method that builds off the concepts of the popular model fitting algorithm, Random Sampling and Consensus (RANSAC), is developed in order to identify outliers in road surface measurements and estimate the road elevations at grid nodes using these measurements. The developed methods are validated in a simulated environment and the results demonstrate a significant improvement in the accuracy of MRMS over current state-of-the art methods.","abstract_html":"Mobile Road Mapping Systems (MRMS) are the current solution to the growing demand for high definition road surface maps in wide ranging applications from pavement management to autonomous vehicle testing. The focus of this research work is to improve the accuracy of MRMS by using the principles of Simultaneous Localization and Mapping (SLAM). First a framework for describing the sensor measurement models in MRMS is developed. Next the problem of estimating the road surface from the set of sensor measurements is formulated as a SLAM problem and two approaches are proposed to solve the formulated problem. The first is an incremental solution wherein sensor measurements are processed in sequence using an Extended Kalman Filter (EKF). The second is a post-processing solution wherein the SLAM problem is formulated as an inference problem over a factor graph and existing factor graph SLAM techniques are used to solve the problem. For the mobile road mapping problem, the road surface being measured is one the primary inputs to the dynamics of the MRMS. Hence, concurrent to the main objective this work also investigates the use of the dynamics of the host vehicle of the system to improve the accuracy of the MRMS. Finally a novel method that builds off the concepts of the popular model fitting algorithm, Random Sampling and Consensus (RANSAC), is developed in order to identify outliers in road surface measurements and estimate the road elevations at grid nodes using these measurements. The developed methods are validated in a simulated environment and the results demonstrate a significant improvement in the accuracy of MRMS over current state-of-the art methods.","abstract_has_math":false,"creators":["Pereira, Savio Joseph"],"institution":"Virginia Tech","degree_name":"Doctor of Philosophy","degree_level":"doctoral","degree_discipline":"Mechanical Engineering","degree_department":"Mechanical Engineering","school":null,"contributors":[],"advisors":[],"committee_chairs":["Ferris, John B."],"committee_members":["Sandu, Corina","Kurdila, Andrew J.","Taheri, Saied","Psiaki, Mark L."],"year":2019,"date_issued":"2019-10-09","date_published":"2019-10-09","updated_at":"2026-07-22T22:18:53Z","subjects":["EKF","SLAM","SAM","RANSAC"],"languages":[],"rights":["In Copyright"],"rights_urls":["http://rightsstatements.org/vocab/InC/1.0/"],"identifier_entries":[{"key":"dc:identifier.other","label":"Dc Identifier Other","values":["vt_gsexam:22347"],"render_values":[{"text":"vt_gsexam:22347","href":null,"code":true}]}]},"links":{"outbound_url":"http://hdl.handle.net/10919/94425","outbound_label":"Handle","outbound_source":"dc:identifier.uri"},"metadata_groups":[{"id":"people","label":"People","entries":[{"key":"dc:contributor.committeechair","label":"Committee Chair","values":["Ferris, John B."]},{"key":"dc:contributor.committeemember","label":"Committee Member","values":["Sandu, Corina","Kurdila, Andrew J.","Taheri, Saied","Psiaki, Mark L."]},{"key":"dc:contributor.department","label":"Department","values":["Mechanical Engineering"]},{"key":"dc:creator","label":"Author","values":["Pereira, Savio Joseph"]}]},{"id":"academic_context","label":"Academic Context","entries":[{"key":"dc:date.accessioned","label":"Dc Date Accessioned","values":["2019-10-10T08:00:37Z"]},{"key":"dc:date.available","label":"Dc Date Available","values":["2019-10-10T08:00:37Z"]},{"key":"dc:date.issued","label":"Date","values":["2019-10-09"]},{"key":"dc:publisher","label":"Institution","values":["Virginia Tech"]},{"key":"dc:type","label":"Dc Type","values":["Dissertation"]},{"key":"thesis:degree_discipline","label":"Discipline","values":["Mechanical Engineering"]},{"key":"thesis:degree_level","label":"Degree Level","values":["doctoral"]},{"key":"thesis:degree_name","label":"Degree Name","values":["Doctor of Philosophy"]},{"key":"thesis:institution_name","label":"Thesis Institution Name","values":["Virginia Polytechnic Institute and State University"]}]},{"id":"subjects_keywords","label":"Subjects and Keywords","entries":[{"key":"dc:subject","label":"Dc Subject","values":["EKF","SLAM","SAM","RANSAC"]}]},{"id":"language_rights","label":"Language and Rights","entries":[{"key":"dc:rights","label":"Dc Rights","values":["In Copyright"]},{"key":"dc:rights.uri","label":"Rights URI","values":["http://rightsstatements.org/vocab/InC/1.0/"]}]},{"id":"identifiers","label":"Identifiers","entries":[{"key":"dc:identifier.other","label":"Dc Identifier Other","values":["vt_gsexam:22347"]},{"key":"dc:identifier.uri","label":"Identifier URI","values":["http://hdl.handle.net/10919/94425"]}]},{"id":"additional","label":"Additional Metadata","entries":[{"key":"dc:description.abstract","label":"Abstract","values":["Mobile Road Mapping Systems (MRMS) are the current solution to the growing demand for high definition road surface maps in wide ranging applications from pavement management to autonomous vehicle testing. 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Hence, concurrent to the main objective this work also investigates the use of the dynamics of the host vehicle of the system to improve the accuracy of the MRMS. Finally a novel method that builds off the concepts of the popular model fitting algorithm, Random Sampling and Consensus (RANSAC), is developed in order to identify outliers in road surface measurements and estimate the road elevations at grid nodes using these measurements. The developed methods are validated in a simulated environment and the results demonstrate a significant improvement in the accuracy of MRMS over current state-of-the art methods."]},{"key":"dc:description.abstractgeneral","label":"General Abstract","values":["Mobile Road Mapping Systems (MRMS) are the current solution to the growing demand for high definition road surface maps in wide ranging applications from pavement management to autonomous vehicle testing. The objective of this research work is to improve the accuracy of MRMS by investigating methods to improve the sensor data fusion process. The main focus of this work is to apply the principles from the field of Simultaneous Localization and Mapping (SLAM) in order to improve the accuracy of MRMS. The concept of SLAM has been successfully applied to the field of mobile robot navigation and thus the motivation of this work is to investigate its application to the problem of mobile road mapping. For the mobile road mapping problem, the road surface being measured is one the primary inputs to the dynamics of the MRMS. Hence this work also investigates whether knowledge regarding the dynamics of the system can be used to improve the accuracy. Also developed as part of this work is a novel method for identifying outliers in road surface datasets and estimating elevations at road surface grid nodes. The developed methods are validated in a simulated environment and the results demonstrate a significant improvement in the accuracy of MRMS over current state-of-the-art methods."]},{"key":"dc:description.degree","label":"Dc Description Degree","values":["Doctor of Philosophy"]},{"key":"dc:format.medium","label":"Dc Format Medium","values":["ETD"]},{"key":"dc:title","label":"Title","values":["On the utilization of Simultaneous Localization and Mapping(SLAM) along with vehicle dynamics in Mobile Road Mapping Systems"]}]}],"canonical_facts":{"dc:contributor.committeechair":["Ferris, John B."],"dc:contributor.committeemember":["Sandu, Corina","Kurdila, Andrew J.","Taheri, Saied","Psiaki, Mark L."],"dc:contributor.department":["Mechanical Engineering"],"dc:creator":["Pereira, Savio Joseph"],"dc:date.accessioned":["2019-10-10T08:00:37Z"],"dc:date.available":["2019-10-10T08:00:37Z"],"dc:date.issued":["2019-10-09"],"dc:description.abstract":["Mobile Road Mapping Systems (MRMS) are the current solution to the growing demand for high definition road surface maps in wide ranging applications from pavement management to autonomous vehicle testing. 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Hence, concurrent to the main objective this work also investigates the use of the dynamics of the host vehicle of the system to improve the accuracy of the MRMS. Finally a novel method that builds off the concepts of the popular model fitting algorithm, Random Sampling and Consensus (RANSAC), is developed in order to identify outliers in road surface measurements and estimate the road elevations at grid nodes using these measurements. The developed methods are validated in a simulated environment and the results demonstrate a significant improvement in the accuracy of MRMS over current state-of-the art methods."],"dc:description.abstractgeneral":["Mobile Road Mapping Systems (MRMS) are the current solution to the growing demand for high definition road surface maps in wide ranging applications from pavement management to autonomous vehicle testing. 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The developed methods are validated in a simulated environment and the results demonstrate a significant improvement in the accuracy of MRMS over current state-of-the-art methods."],"dc:description.degree":["Doctor of Philosophy"],"dc:format.medium":["ETD"],"dc:identifier.other":["vt_gsexam:22347"],"dc:identifier.uri":["http://hdl.handle.net/10919/94425"],"dc:publisher":["Virginia Tech"],"dc:rights":["In Copyright"],"dc:rights.uri":["http://rightsstatements.org/vocab/InC/1.0/"],"dc:subject":["EKF","SLAM","SAM","RANSAC"],"dc:title":["On the utilization of Simultaneous Localization and Mapping(SLAM) along with vehicle dynamics in Mobile Road Mapping Systems"],"dc:type":["Dissertation"],"thesis:degree_discipline":["Mechanical Engineering"],"thesis:degree_level":["doctoral"],"thesis:degree_name":["Doctor of Philosophy"],"thesis:institution_name":["Virginia Polytechnic Institute and State University"]},"updated_at":"2026-07-22T22:18:53Z"}