Дисертації з теми "Graph-based localization and mapping"
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Agarwal, Pratik [Verfasser], and Wolfram [Akademischer Betreuer] Burgard. "Robust graph-based localization and mapping = Robuste Graph-basierte Lokalisierung und Kartierung." Freiburg : Universität, 2015. http://d-nb.info/111980549X/34.
Повний текст джерелаSünderhauf, Niko. "Robust optimization for simultaneous localization and mapping." Thesis, Technischen Universitat Chemnitz, 2012. https://eprints.qut.edu.au/109667/1/109667.pdf.
Повний текст джерелаSünderhauf, Niko. "Robust Optimization for Simultaneous Localization and Mapping." Doctoral thesis, Universitätsbibliothek Chemnitz, 2012. http://nbn-resolving.de/urn:nbn:de:bsz:ch1-qucosa-86443.
Повний текст джерелаJama, Michal. "Monocular vision based localization and mapping." Diss., Kansas State University, 2011. http://hdl.handle.net/2097/8561.
Повний текст джерелаDepartment of Electrical and Computer Engineering
Balasubramaniam Natarajan
Dale E. Schinstock
In this dissertation, two applications related to vision-based localization and mapping are considered: (1) improving navigation system based satellite location estimates by using on-board camera images, and (2) deriving position information from video stream and using it to aid an auto-pilot of an unmanned aerial vehicle (UAV). In the first part of this dissertation, a method for analyzing a minimization process called bundle adjustment (BA) used in stereo imagery based 3D terrain reconstruction to refine estimates of camera poses (positions and orientations) is presented. In particular, imagery obtained with pushbroom cameras is of interest. This work proposes a method to identify cases in which BA does not work as intended, i.e., the cases in which the pose estimates returned by the BA are not more accurate than estimates provided by a satellite navigation systems due to the existence of degrees of freedom (DOF) in BA. Use of inaccurate pose estimates causes warping and scaling effects in the reconstructed terrain and prevents the terrain from being used in scientific analysis. Main contributions of this part of work include: 1) formulation of a method for detecting DOF in the BA; and 2) identifying that two camera geometries commonly used to obtain stereo imagery have DOF. Also, this part presents results demonstrating that avoidance of the DOF can give significant accuracy gains in aerial imagery. The second part of this dissertation proposes a vision based system for UAV navigation. This is a monocular vision based simultaneous localization and mapping (SLAM) system, which measures the position and orientation of the camera and builds a map of the environment using a video-stream from a single camera. This is different from common SLAM solutions that use sensors that measure depth, like LIDAR, stereoscopic cameras or depth cameras. The SLAM solution was built by significantly modifying and extending a recent open-source SLAM solution that is fundamentally different from a traditional approach to solving SLAM problem. The modifications made are those needed to provide the position measurements necessary for the navigation solution on a UAV while simultaneously building the map, all while maintaining control of the UAV. The main contributions of this part include: 1) extension of the map building algorithm to enable it to be used realistically while controlling a UAV and simultaneously building the map; 2) improved performance of the SLAM algorithm for lower camera frame rates; and 3) the first known demonstration of a monocular SLAM algorithm successfully controlling a UAV while simultaneously building the map. This work demonstrates that a fully autonomous UAV that uses monocular vision for navigation is feasible, and can be effective in Global Positioning System denied environments.
Cummins, Mark. "Probabilistic localization and mapping in appearance space." Thesis, University of Oxford, 2009. http://ora.ox.ac.uk/objects/uuid:a34370f2-a2a9-40b5-9a2d-1c8c616ff07a.
Повний текст джерелаLim, Yu-Xi. "Efficient wireless location estimation through simultaneous localization and mapping." Diss., Atlanta, Ga. : Georgia Institute of Technology, 2009. http://hdl.handle.net/1853/28219.
Повний текст джерелаCommittee Chair: Owen, Henry; Committee Member: Copeland, John; Committee Member: Giffin, Jonathon; Committee Member: Howard, Ayanna; Committee Member: Riley, George.
Schaefer, Alexander [Verfasser], and Wolfram [Akademischer Betreuer] Burgard. "Highly accurate lidar-based mapping and localization for mobile robots." Freiburg : Universität, 2020. http://d-nb.info/1207756016/34.
Повний текст джерелаOliveira, Douglas Coelho Braga de. "Dynamic-object-aware simultaneous localization and mapping for augmented reality applications." Universidade Federal de Juiz de Fora (UFJF), 2018. https://repositorio.ufjf.br/jspui/handle/ufjf/8059.
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CAPES - Coordenação de Aperfeiçoamento de Pessoal de Nível Superior
Realidade Aumentada (RA) é uma tecnologia que permite combinar objetos virtuais tridimensionais com um ambiente predominantemente real, de forma a construir um novo ambiente onde os objetos reais e virtuais podem interagir uns com os outros em tempo real. Para fazer isso, é necessário encontrar a pose do observador (câmera, HMD, óculos inteligentes, etc.) em relação a um sistema de coordenadas global. Geralmente, algum objeto físico conhecido é usado para marcar o referencial para as projeções e para a posição do observador. O problema de Localização e Mapeamento Simultâneo (SLAM) se origina da comunidade de robótica como uma condição necessária para se construir robôs verdadeiramente autônomos, capazes de se auto localizarem em um ambiente desconhecido ao mesmo tempo que constroem um mapa da cena observada a partir de informações capturadas por um conjunto de sensores. A principal contribuição do SLAM para a RA é permitir aplicações em ambientes despreparados, ou seja, sem marcadores. No entanto, ao eliminar o marcador, perdemos o referencial para a projeção dos objetos virtuais e a principal fonte de interação entre os elementos reais e virtuais. Embora o mapa gerado possa ser processado a fim de encontrar uma estrutura conhecida, como um plano predominante, para usá-la como referencial, isso ainda não resolve a questão das interações. Na literatura recente, encontramos trabalhos que integram um sistema de reconhecimento de objetos ao SLAM e incorporam tais objetos ao mapa. Frequentemente, assume-se um mapa estático, devido às limitações das técnicas envolvidas, de modo que o objeto é usado apenas para fornecer informações semânticas sobre a cena. Neste trabalho, propomos um novo framework que permite estimar simultaneamente a posição da câmera e de objetos para cada quadro de vídeo em tempo real. Dessa forma, cada objeto é independente e pode se mover pelo mapa livremente, assim como nos métodos baseados em marcadores, mas mantendo as vantagens que o SLAM fornece. Implementamos a estrutura proposta sobre um sistema SLAM de última geração a fim de validar nossa proposta e demonstrar a potencial aplicação em Realidade Aumentada.
Augmented Reality (AR) is a technology that allows combining three-dimensional virtual objects with an environment predominantly real in a way to build a new environment where both real and virtual objects can interact with each other in real-time. To do this, it is required to nd the pose of the observer (camera, HMD, smart glasses etc) in relation to a global coordinate system. Commonly, some well known physical object, called marker, is used to de ne the referential for both virtual objects and the observer's position. The Simultaneous Localization and Mapping (SLAM) problem borns from robotics community as a way to build truly autonomous robots by allowing they to localize themselves while they build a map of the observed scene from the input data of their coupled sensors. SLAM-based Augmented Reality is an active and evolving research line. The main contribution of the SLAM to the AR is to allow applications on unprepared environments, i.e., without markers. However, by eliminating the marker object, we lose the referential for virtual object projection and the main source of interaction between real and virtual elements. Although the generated map can be processed in order to nd a known structure, e.g. a predominant plane, to use it as the referential system, this still not solve for interactions. In the recent literature, we can found works that integrate an object recognition system to the SLAM in a way the objects are incorporated into the map. The SLAM map is frequently assumed to be static, due to limitations on techniques involved, so that on these works the object is just used to provide semantic information about the scene. In this work, we propose a new framework that allows estimating simultaneously the camera and object positioning for each camera image in real time. In this way, each object is independent and can move through the map as well as in the marker-based methods but with the SLAM advantages kept. We develop our proposed framework over a stateof- the-art SLAM system in order to evaluate our proposal and demonstrate potentials application in Augmented Reality.
Lee, Chun-Fan Computer Science & Engineering Faculty of Engineering UNSW. "Towards topological mapping with vision-based simultaneous localization and map building." Awarded by:University of New South Wales. Computer Science & Engineering, 2008. http://handle.unsw.edu.au/1959.4/41551.
Повний текст джерелаDroeschel, David Marcel [Verfasser]. "Efficient Methods for Lidar-based Mapping and Localization / David Marcel Droeschel." Bonn : Universitäts- und Landesbibliothek Bonn, 2020. http://d-nb.info/122166929X/34.
Повний текст джерелаLYRIO, JUNIOR L. J. "Image-Based Mapping and Localization using VG-RAM Weightless Neural Networks." Universidade Federal do Espírito Santo, 2014. http://repositorio.ufes.br/handle/10/4269.
Повний текст джерелаLocalização e Mapeamento são problemas fundamentais da robótica autônoma. Robôs autônomos necessitam saber onde se encontram em sua área de operação para navegar pelo ambiente e realizar suas atividades de interesse. Neste trabalho, apresentamos um sistema para mapeamento e localização baseado em imagens que emprega Redes Neurais Sem Peso do Tipo VG-RAM (RNSP VG-RAM) para um carro autônomo. No nosso sistema, uma RNSP VG-RAM aprende posições globais associadas à imagens e marcos tridimensionais capturados ao longo de uma trajetória, e constrói um mapa baseado nessas informações. Durante a localização, o sistema usa um Filtro Estendido de Kalman para integrar dados de sensores e do mapa ao longo do tempo, através de passos consecutivos de predição e correção do estado do sistema. O passo de predição é calculado por meio do modelo de movimento do nosso robô, que utiliza informações de velocidade e ângulo do volante, calculados a partir de imagens utilizando-se odometria visual. O passo de correção é realizado através da integração das posições globais que a RNSP VG-RAM com a correspondência dos marcos tridimensional previamente armazenados no mapa do robô. Realizamos experimentos com o nosso sistema usando conjuntos de dados do mundo real. Estes conjuntos de dados consistem em dados provenientes de vários sensores de um carro autônomo, que foram sistematicamente adquiridos durante voltas ao redor do campus principal da UFES (um circuito de 3,57 km). Nossos resultados experimentais mostram que nosso sistema é capaz de aprender grandes mapas (vários quilômetros de comprimento) e realizar a localização global e rastreamento de posição de carros autônomos, com uma precisão de 0,2 metros quando comparado à abordagem de Localização de Monte Carlo utilizado no nosso veículo autônomo.
Bertoletti, Michele. "Appearence-based Visual Localization for Indoor Navigation of Quadrotors." Master's thesis, Alma Mater Studiorum - Università di Bologna, 2020.
Знайти повний текст джерелаBacca, Cortés Eval Bladimir. "Appearance-based mapping and localization using feature stability histograms for mobile robot navigation." Doctoral thesis, Universitat de Girona, 2012. http://hdl.handle.net/10803/83589.
Повний текст джерелаEste trabajo propone un método de SLAM basado en apariencia cuya principal contribución es el Histograma de Estabilidad de Características (FSH). El FSH es construido por votación, si una característica es re-observada, ésta será promovida; de lo contrario su valor FSH progresivamente es reducido. El FSH es basado en el modelo de memoria humana para ocuparse de ambientes cambiantes y SLAM a largo término. Este modelo introduce conceptos como memoria a corto plazo (STM) y largo plazo (LTM), las cuales retienen información por cortos y largos periodos de tiempo. Si una entrada a la STM es reforzada, ésta hará parte de la LTM (i.e. es más estable). Sin embargo, este trabajo propone un modelo de memoria diferente, permitiendo a cualquier entrada ser parte de la STM o LTM considerando su intensidad. Las características más estables son solamente usadas en SLAM. Esta innovadora estrategia de manejo de características es capaz de hacer frente a ambientes cambiantes y SLAM de largo término.
Ferrin, Jeffrey L. "Autonomous Goal-Based Mapping and Navigation Using a Ground Robot." BYU ScholarsArchive, 2016. https://scholarsarchive.byu.edu/etd/6190.
Повний текст джерелаWijk, Olle. "Triangulation Based Fusion of Sonar Data with Application in Mobile Robot Mapping and Localization." Doctoral thesis, Stockholm : Tekniska högsk, 2001. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-3124.
Повний текст джерелаFossel, J. "Improving light detection and ranging based simultaneous localization and mapping with advanced map representations." Thesis, University of Liverpool, 2018. http://livrepository.liverpool.ac.uk/3022937/.
Повний текст джерелаSvensson, Depraetere Xavier. "Application of new particle-based solutions to the Simultaneous Localization and Mapping (SLAM) problem." Thesis, KTH, Matematisk statistik, 2017. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-212999.
Повний текст джерелаI detta examensarbete utforskas nya lösningar till Simultaneous Localization and Mapping (SLAM) problemet baserat på partikelfilter- och partikelglättnings-metoder. I sin grund består SLAM problemet av två av varandra beroende uppgifter: kartläggning och spårning. Tre lösningsmetoder som använder olika glättnings-metoder appliceras för att lösa dessa uppgifter. Dessa glättningsmetoder är fixed lag smoothing (FLS), forward-only forward-filtering backward-smoothing (forward-only FFBSm) och the particle-based, rapid incremental smoother (PaRIS). I samband med dessa glättningstekniker används den väletablerade Expectation-Maximization (EM) algoritmen för att skapa maximum-likelihood skattningar av kartan. De tre lösningsmetoderna utvärderas sedan och jämförs i en simulerad miljö.
Yilmaz, Özgün. "Infrared based monocular relative navigation for active debris removal." Thesis, Cranfield University, 2018. http://dspace.lib.cranfield.ac.uk/handle/1826/13727.
Повний текст джерелаBONTEMPO, ALAN PORTO. "A HYBRID APPROACH FOR SIMULTANEOUS LOCALIZATION AND MAPPING WITH SONAR BASED ROBOTS AND EXTENDED KALMAN FILTER." PONTIFÍCIA UNIVERSIDADE CATÓLICA DO RIO DE JANEIRO, 2012. http://www.maxwell.vrac.puc-rio.br/Busca_etds.php?strSecao=resultado&nrSeq=21009@1.
Повний текст джерелаCOORDENAÇÃO DE APERFEIÇOAMENTO DO PESSOAL DE ENSINO SUPERIOR
CONSELHO NACIONAL DE DESENVOLVIMENTO CIENTÍFICO E TECNOLÓGICO
PROGRAMA DE EXCELENCIA ACADEMICA
Este trabalho aborda o problema da Localização e Mapeamento Simultâneos em ambientes estruturados, utilizando um robô móvel equipado com sonares, bússola eletrônica e encoders. Na modelagem sugerida há a construção do mapa do ambiente e a localização do robô de forma interativa. O método proposto, denominado de LMS-H (Localização e Mapeamento Simultâneos - Híbrido), faz uso de duas formas de representação do ambiente: Mapa de Ocupação em Grade e Representação Contínua. O Mapa de Ocupação em Grade divide o ambiente em pequenas partes iguais, classificando-as em ocupadas ou vazias. A Representação Contínua utiliza retas para representar os planos detectados no ambiente, formando um mapa em duas dimensões e cada reta do mapa é considerada um marco. Sempre que um plano é novamente detectado pelo robô a reta correspondente a ele é recalculada com os novos pontos obtidos e a posição do robô é atualizada via Filtro de Kalman Estendido. A eficácia do método foi comprovada através de seis estudos de caso: três em ambientes virtuais e três em ambientes reais. Os estudos de casos em ambientes reais foram realizados utilizando-se um protótipo feito sob a plataforma LEGO Mindstorms. Os resultados obtidos comprovaram a eficácia do método proposto.
This work addresses the problem of Simultaneous Localization and Mapping in structured environments using a mobile robot equipped with sonar, electronic compass and encoders. In the proposed modeling there are the construction of the environment map and the robot localization interactively. The proposed method, called H-SLAM (Hybrid - Simultaneous Localization and Mapping), makes use kinds of environment representation: Occupancy Grid Map and Continuous Representation. The Occupancy Grid Map divides the environment into small equal parts, and classifies it as occupied or empty. The Continuous Representation uses lines to represent detected planes in the environment, forming a two-dimensional map. Each line of the map is considered a landmark. Every time a plan is redetected by the robot the corresponding line to it is rebuild with the new points obtained and the robot s position is updated through Extended Kalman Filter. The model effectiveness was proved with computer simulations in three virtual environments. Using a prototype developed with LEGO Mindstorms platform three other experiments were also performed in real environments. The results demonstrated the effectiveness of the proposed method.
Tweddle, Brent Edward. "Computer vision-based localization and mapping of an unknown, uncooperative and spinning target for spacecraft proximity operations." Thesis, Massachusetts Institute of Technology, 2013. http://hdl.handle.net/1721.1/85693.
Повний текст джерелаThis electronic version was submitted by the student author. The certified thesis is available in the Institute Archives and Special Collections.
Cataloged from student-submitted PDF version of thesis.
Includes bibliographical references (pages 399-410).
Prior studies have estimated that there are over 100 potential target objects near the Geostationary Orbit belt that are spinning at rates of over 20 rotations per minute. For a number of reasons, it may be desirable to operate in close proximity to these objects for the purposes of inspection, docking and repair. Many of them have an unknown geometric appearance, are uncooperative and non-communicative. These types of characteristics are also shared by a number of asteroid rendezvous missions. In order to safely operate in close proximity to an object in space, it is important to know the target object's position and orientation relative to the inspector satellite, as well as to build a three-dimensional geometric map of the object for relative navigation in future stages of the mission. This type of problem can be solved with many of the typical Simultaneous Localization and Mapping (SLAM) algorithms that are found in the literature. However, if the target object is spinning with signicant angular velocity, it is also important to know the linear and angular velocity of the target object as well as its center of mass, principal axes of inertia and its inertia matrix. This information is essential to being able to propagate the state of the target object to a future time, which is a key capability for any type of proximity operations mission. Most of the typical SLAM algorithms cannot easily provide these types of estimates for high-speed spinning objects. This thesis describes a new approach to solving a SLAM problem for unknown and uncooperative objects that are spinning about an arbitrary axis. It is capable of estimating a geometric map of the target object, as well as its position, orientation, linear velocity, angular velocity, center of mass, principal axes and ratios of inertia. This allows the state of the target object to be propagated to a future time step using Newton's Second Law and Euler's Equation of Rotational Motion, and thereby allowing this future state to be used by the planning and control algorithms for the target spacecraft. In order to properly evaluate this new approach, it is necessary to gather experi
by Brent Edward Tweddle.
Ph. D.
McVicker, William D. "Mapping and Visualizing Ancient Water Storage Systems with an ROV -- An Approach Based on Fusing Stationary Scans within a Particle Filter." DigitalCommons@CalPoly, 2012. https://digitalcommons.calpoly.edu/theses/885.
Повний текст джерелаGarcía, Fidalgo Emilio. "Appearance-based Loop Closure Detection and its Application to Topological Mapping and Image Mosaicing." Doctoral thesis, Universitat de les Illes Balears, 2016. http://hdl.handle.net/10803/399587.
Повний текст джерелаEl mapeo y la localización son dos procesos fundamentales en robótica autónoma móvil debido a que son la base de otras tareas de más alto nivel y más complejas, como la evitación de obstáculos o la planificación de rutas. El mapeo es el proceso a través del cual el robot construye su propia representación del entorno cuando el mapa no está disponible. Existen fundamentalmente dos tipos de mapas: los métricos y los topológicos. Mientras que los mapas métricos representan el mundo lo más exacto posible de acuerdo a un sistema de coordenadas de referencia, los mapas topológicos lo representan de un modo abstracto utilizando un grafo, lo que supone una serie de ventajas respecto a los métricos. Debido al inevitable ruido que incluyen los sensores, los algoritmos de mapeo normalmente están basados en técnicas de detección de bucles, que consisten en identificar correctamente cuando el vehículo ha vuelto a un lugar previamente visitado para reducir la incertidumbre en los mapas resultantes. Esta tesis trata de dar solución al problema de generar mapas topológicos del entorno utilizando algoritmes eficientes de detección de bucles basados en visión. Debido a que la calidad de un algoritmo de detección visual de bucles está directamente relacionada con la descripción de las imágenes y con el método utilizado para indexarlas, en esta tesis se proponen varias técnicas para detectar bucles, adoptando diferentes enfoques. Estos métodos se utilizan como Componentes básicos en tres novedosos algoritmos de mapeo topológico. Los resultados obtenidos indican que las soluciones propuestas presentan un mejor rendimiento que diversos algoritmos considerados como estado del arte por la comunidad. Para concluir, y dado que el reconocimiento de escenas es también un componente esencial en otras áreas de investigación, se presenta un algoritmo de generación de mosaicos de imágenes. Este algoritmo utiliza una de las técnicas de detección de bucles presentadas previamente para encontrar pares de imágenes que se solapan y se utiliza para obtener mosaicos en diferentes entornos en un tiempo razonable.
El mapeig i la localització són dos processos fonamentals en robòtica autònoma mòbil a causa de que són la base d’altres tasques de més alt nivell i més complexes, com l’evitació d’obstacles o la planificació de rutes. El mapeig és el procés a través del qual el robot construeix la seva pròpia representació de l’entorn quan el mapa no està disponible. Existeixen fonamentalment dos tipus de mapes: els mètrics i els topològics. Mentre que els mapes mètrics representen el món el més exacte possible d’acord a un sistema de coordenades de referència, els mapes topològics el representen d’una manera abstracte utilitzant un graf, el que suposa una sèrie d’avantatges respecte als mètrics. A causa de l’inevitable soroll que inclouen els sensors, els algorismes de mapeig normalment estan basats en tècniques de detecció de bucles, que consisteixen en identificar correctament quan el vehicle ha tornat a un lloc prèviament visitat per reduir la incertesa en els mapes resultants. Aquesta tesi tracta de donar solució al problema de generar mapes topològics de l’entorn utilitzant algorismes eficients de detecció de bucles basats en visió. Degut a que la qualitat d’un algorisme de detecció visual de bucles està directament relacionada amb la descripció de les imatges i amb el mètode utilitzat per indexarles, en aquesta tesi es proposen diverses tècniques per detectar bucles adoptant diferents enfocs. Aquests mètodes s’utilitzen com a components bàsics en tres nous algorismes de mapeig topològic. Els resultats obtinguts indiquen que les solucions proposades presenten un millor rendiment que diversos algorismes considerats com estat de l’art per la comunitat. Per concloure, i atès que el reconeixement d’escenes és també un component essencial en altres àrees d’investigació, es presenta un algorisme de generació de mosaics d’imatges. Aquest algorisme utilitza una de les tècniques de detecció de bucles presentades prèviament per trobar parells d’imatges que es solapen, i s’utilitza per obtenir mosaics en diferents entorns en un temps raonable.
Ozgur, Ayhan. "A Novel Mobile Robot Navigation Method Based On Combined Feature Based Scan Matching And Fastslam Algorithm." Master's thesis, METU, 2010. http://etd.lib.metu.edu.tr/upload/12612431/index.pdf.
Повний текст джерелаMurphy, Timothy Charles. "Examining the Effects of Key Point Detector and Descriptors on 3D Visual SLAM." Ohio University Honors Tutorial College / OhioLINK, 2016. http://rave.ohiolink.edu/etdc/view?acc_num=ouhonors1461320700.
Повний текст джерелаBruce, Jake. "Learning from limited experience: Real-world robot navigation from a single traversal." Thesis, Queensland University of Technology, 2020. https://eprints.qut.edu.au/205492/1/Jacob_Bruce_Thesis.pdf.
Повний текст джерелаHuang, Henry. "Bearing-only SLAM : a vision-based navigation system for autonomous robots." Thesis, Queensland University of Technology, 2008. https://eprints.qut.edu.au/28599/1/Henry_Huang_Thesis.pdf.
Повний текст джерелаHuang, Henry. "Bearing-only SLAM : a vision-based navigation system for autonomous robots." Queensland University of Technology, 2008. http://eprints.qut.edu.au/28599/.
Повний текст джерелаCheng, Sibo. "Error covariance specification and localization in data assimilation with industrial application Background error covariance iterative updating with invariant observation measures for data assimilation A graph clustering approach to localization for adaptive covariance tuning in data assimilation based on state-observation mapping Error covariance tuning in variational data assimilation: application to an operating hydrological model." Thesis, université Paris-Saclay, 2020. http://www.theses.fr/2020UPAST067.
Повний текст джерелаData assimilation techniques are widely applied in industrial problems of field reconstruction or parameter identification. The error covariance matrices, especially the background matrix in data assimilation are often difficult to specify. In this thesis, we are interested in the specification and localization of covariance matrices in multivariate and multidimensional systems in an industrial context. We propose to improve the covariance specification by iterative processes. Hence, we developed two new iterative methods for background matrix recognition. The power of these methods is demonstrated numerically in twin experiments with independent errors or relative to true states. We then propose a new concept of localization and applied it for error covariance tuning. Instead of relying on spatial distance, this localization is established purely on links between state variables and observations. Finally, we apply these new approaches, together with other classical methods for comparison, to a multivariate hydrological model. Variational assimilation is implemented to correct the observed precipitation in order to obtain a better river flow forecast
HENELL, DANIEL. "Airborne SLAM Using High-Speed Vision : The construction of a fully self-contained micro air vehicle localized and controlledusing computer vision based Simultaneous Localization And Mapping." Thesis, KTH, Skolan för datavetenskap och kommunikation (CSC), 2013. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-141772.
Повний текст джерелаEn helikopterplattform har satts samman där all motorstyrning, lokalisering och övriga beräkningar sker ombord på helikoptern vilket gör den oberoende av extern hårdvara. Lokaliseringen av helikoptern görs enbart med hjälp av en monokulär kamera genom att analysera videoströmmen med hjälp av datorseende-algoritmer. Algoritmen som används är en anpassning av PTAM, en Similtaneous Localization and Mapping (SLAM) algoritm publicerad 2007 av G. Klein och D. Murray. Algoritmen har modifierats så att den kan bättre hantera situationer med repeterande marktextur utan speciellt utmärkande särdrag, samt att programvaran har integrerats med helikopterhårdvaran för att att skicka styrsignaler. Algoritmen har även förbättrats med automatiskt initiering av trackern, samt ett alternativ att hålla kartstorleken konstant så att helikoptern kan röra sig över större områden utan att begränsas av den ökande beräkningstiden och minnesanvändningen för en större karta. Hur användandet av höghastighetskameror på 60 Hz påverkar kvalitén av trackningen undersöktes. Inverkan visade sig vara mindre än förväntad. Tracking-stabiliteten ökade mycket i övergången från 10 Hz till 30 Hz video. Mätningarna visade dock att det knappt var någon skillnad att gå från 30 Hz till 60 Hz. I 60 Hz så blir skillnaden mellan bildrutor mindre med det gav inte bättre trackning. Anledningen till detta är med största sannolikhet att 30 Hz ger tillräckligt mjuka rörelser för att kunna tracka rörelser i de hastigheter som är aktuella för helikoptern. Den begränsande faktorn är därför att den algoritm som används inte klarar av alla typer av scener och det kommer inte kunna lösas med snabbare och bättre kameror utan kommer kräva förbättringar av SLAM algoritmen. Lokaliseringen fungerar bra när det finns många framträdande särdrag. Precisionen i de fallen har mätts till att ha ett RMS fel på 2,4 cm jämfört med data från motion capture som kan antas vara exakt.
Schuster, Martin Johannes [Verfasser], Michael [Akademischer Betreuer] Beetz, Michael [Gutachter] Beetz, and Rudolph [Gutachter] Triebel. "Collaborative Localization and Mapping for Autonomous Planetary Exploration : Distributed Stereo Vision-Based 6D SLAM in GNSS-Denied Environments / Martin Johannes Schuster ; Gutachter: Michael Beetz, Rudolph Triebel ; Betreuer: Michael Beetz." Bremen : Staats- und Universitätsbibliothek Bremen, 2019. http://d-nb.info/119415686X/34.
Повний текст джерелаAlexandersson, Johan, and Olle Nordin. "Implementation of SLAM Algorithms in a Small-Scale Vehicle Using Model-Based Development." Thesis, Linköpings universitet, Datorteknik, 2017. http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-148612.
Повний текст джерелаMcVicker, Michael Charles. "Effects of different camera motions on the error in estimates of epipolar geometry between two dimensional images in order to provide a framework for solutions to vision based Simultaneous Localization and Mapping (SLAM)." Thesis, Monterey, Calif. : Naval Postgraduate School, 2007. http://bosun.nps.edu/uhtbin/hyperion-image.exe/07Sep%5FMcVicker.pdf.
Повний текст джерелаThesis Advisor(s): Kölsch, Mathias ; Squire, Kevin. "September 2007." Description based on title screen as viewed on October 24, 2007. Includes bibliographical references (p. 169-171). Also available in print.
Mahdoui, Chedly Nesrine. "Communicating multi-UAV system for cooperative SLAM-based exploration." Thesis, Compiègne, 2018. http://www.theses.fr/2018COMP2447/document.
Повний текст джерелаIn the aerial robotic community, a growing interest for Multi-Robot Systems (MRS) appeared in the last years. This is thanks to i) the technological advances, such as better onboard processing capabilities and higher communication performances, and ii) the promising results of MRS deployment, such as increased area coverage in minimum time. The development of highly efficient and affordable fleet of Unmanned Aerial Vehicles (UAVs) and Micro Aerial Vehicles (MAVs) of small size has paved the way to new large-scale applications, that demand such System of Systems (SoS) features in areas like security, disaster surveillance, inundation monitoring, search and rescue, infrastructure inspection, and so on. Such applications require the robots to identify their environment and localize themselves. These fundamental tasks can be ensured by the exploration mission. In this context, this thesis addresses the cooperative exploration of an unknown environment sensed by a team of UAVs with embedded vision. We propose a multi-robot framework where the key problem is to cooperatively choose specific regions of the environment to be simultaneously explored and mapped by each robot in an optimized manner in order to reduce exploration time and, consequently, energy consumption. Each UAV is able to performSimultaneous Localization And Mapping (SLAM) with a visual sensor as the main input sensor. To explore the unknown regions, the targets – selected from the computed frontier points lying between free and unknown areas – are assigned to robots by considering a trade-off between fast exploration and getting detailed grid maps. For the sake of decision making, UAVs usually exchange a copy of their local map; however, the novelty in this work is to exchange map frontier points instead, which allow to save communication bandwidth. One of the most challenging points in MRS is the inter-robot communication. We study this part in both topological and typological aspects. We also propose some strategies to cope with communication drop-out or failure. Validations based on extensive simulations and testbeds are presented
Fujimoto, Masaki Stanley. "Graph-Based Whole Genome Phylogenomics." BYU ScholarsArchive, 2020. https://scholarsarchive.byu.edu/etd/8461.
Повний текст джерелаDixit-Radiya, Vibha. "Mapping on wormhole-routed distributed-memory systems : a temporal communication graph-based approach /." The Ohio State University, 1995. http://rave.ohiolink.edu/etdc/view?acc_num=osu1487863429091928.
Повний текст джерелаEllingson, Gary James. "Cooperative Navigation of Fixed-Wing Micro Air Vehicles in GPS-Denied Environments." BYU ScholarsArchive, 2019. https://scholarsarchive.byu.edu/etd/8706.
Повний текст джерелаRelfsson, Emil. "Map Partition and Loop Closure in a Factor Graph Based SAM System." Thesis, Linköpings universitet, Reglerteknik, 2020. http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-171894.
Повний текст джерелаMatos, Jody Maick Araujo de. "Graph based algorithms to efficiently map VLSI circuits with simple cells." reponame:Biblioteca Digital de Teses e Dissertações da UFRGS, 2018. http://hdl.handle.net/10183/174523.
Повний текст джерелаThis thesis introduces a set of graph-based algorithms for efficiently mapping VLSI circuits using simple cells. The proposed algorithms are concerned to, first, effectively minimize the number of logic elements implementing the synthesized circuit. Then, we focus a significant effort on minimizing the number of inverters in between these logic elements. Finally, this logic representation is mapped into a circuit comprised of only two-input NANDs and NORS, along with the inverters. Two-input XORs and XNORs can also be optionally considered. As we also consider sequential circuits in this work, flip-flops are taken into account as well. Additionally, with high-effort optimization on the number of logic elements, the generated circuits may contain some cells with unfeasible fanout for current technology nodes. In order to fix these occurrences, we propose an area-oriented, level-aware algorithm for fanout limitation. The proposed algorithms were applied over a set of benchmark circuits and the obtained results have shown the usefulness of the method. We show that efficient implementations in terms of inverter count, transistor count, area, power and delay can be generated from circuits with a reduced number of both simple cells and inverters, combined with XOR/XNOR-based optimizations. The proposed buffering algorithm can handle all unfeasible fanout occurrences, while (i) optimizing the number of added inverters; and (ii) assigning cells to the inverter tree based on their level criticality. When comparing with academic and commercial approaches, we are able to simultaneously reduce the average number of inverters, transistors, area, power dissipation and delay up to 48%, 5%, 5%, 5%, and 53%, respectively. As the adoption of a limited set of simple standard cells have been showing benefits for a variety of modern VLSI circuits constraints, such as layout regularity, routability constraints, and/or ultra low power constraints, the proposed methods can be of special interest for these applications. Additionally, some More-than-Moore applications, such as printed electronics designs, can also take benefit from the proposed approach.
Matos, Jody Maick Araujo de. "Graph-based algorithms for transistor count minimization in VLSI circuit EDA tools." reponame:Biblioteca Digital de Teses e Dissertações da UFRGS, 2014. http://hdl.handle.net/10183/147759.
Повний текст джерелаThis master’s thesis introduces a set of graph-based algorithms for obtaining reduced transistor count VLSI circuits using simple cells. These algorithms are mainly focused on minimizing node count in AIG representations and mapping this optimized AIG using simple cells (NAND2 and NOR2) with a minimal number of inverters. Due to the AIG node count minimization, the logic sharing is probably highly present in the optimized AIG, what may derive intermediate circuits containing cells with unfeasible fanout in current technology nodes. In order to fix these occurrences, this intermediate circuit is subjected to an algorithm for fanout limitation. The proposed algorithms were applied over a set of benchmark circuits and the obtained results have shown the usefulness of the method. The circuits generated by the methods proposed herein have, in average, 32% less transistor than the previous reference on transistor count using simple cells. Additionally, when comparing the presented results in terms of transistor count against works advocating for complex cells, our results have demonstrated that previous approaches are sometimes far from the minimum transistor count that can be obtained with the efficient use of a reduced cell library composed by only a few number of simple cells. The simple-cells-based circuits obtained after applying the algorithms proposed herein have presented a lower transistor count in many cases when compared to previously published results using complex (static CMOS and PTL) cells.
Wheeler, David Orton. "Relative Navigation of Micro Air Vehicles in GPS-Degraded Environments." BYU ScholarsArchive, 2017. https://scholarsarchive.byu.edu/etd/6609.
Повний текст джерелаNaser, Taher Ahmed Jabir. "A flexible approach for mapping between object-oriented databases and XML : a two way method based on an object graph." Thesis, University of Bradford, 2011. http://hdl.handle.net/10454/5505.
Повний текст джерелаNaser, Taher A. J. "A flexible approach for mapping between object-oriented databases and xml. A two way method based on an object graph." Thesis, University of Bradford, 2011. http://hdl.handle.net/10454/5505.
Повний текст джерелаJackson, James Scott. "Enabling Autonomous Operation of Micro Aerial Vehicles Through GPS to GPS-Denied Transitions." BYU ScholarsArchive, 2019. https://scholarsarchive.byu.edu/etd/8709.
Повний текст джерелаWan, Wei. "A New Approach to the Decomposition of Incompletely Specified Functions Based on Graph Coloring and Local Transformation and Its Application to FPGA Mapping." PDXScholar, 1992. https://pdxscholar.library.pdx.edu/open_access_etds/4698.
Повний текст джерелаSharma, Rajnikant. "Bearing-Only Cooperative-Localization and Path-Planning of Ground and Aerial Robots." BYU ScholarsArchive, 2011. https://scholarsarchive.byu.edu/etd/2884.
Повний текст джерелаTamaazousti, Mohamed. "L'ajustement de faisceaux contraint comme cadre d'unification des méthodes de localisation : application à la réalité augmentée sur des objets 3D." Phd thesis, Université Blaise Pascal - Clermont-Ferrand II, 2013. http://tel.archives-ouvertes.fr/tel-00881206.
Повний текст джерелаMatula, Radek. "Grafická reprezentace grafů." Master's thesis, Vysoké učení technické v Brně. Fakulta informačních technologií, 2009. http://www.nusl.cz/ntk/nusl-236753.
Повний текст джерелаFekih, Hassen Wiem. "A ubiquitous navigation service on smartphones." Thesis, Lyon, 2020. http://www.theses.fr/2020LYSEI006.
Повний текст джерелаPedestrian navigation is a growing research field, which aims at developing services and applications that ensure the continuous positioning and navigation of people inside and outside covered areas (e.g. buildings). In this thesis, we propose a ubiquitous pedestrian navigation service based on user preferences and the most suitable efficient available positioning technology (e.g. WiFi, GNSS). Our main objective is to estimate continuously the position of a pedestrian carrying a smartphone equipped with a variety of technologies and sensors. First, we propose a novel positioning technology selection algorithm, called UCOSA for the complete ubiquitous navigation service in indoor and outdoor environments. UCOSA algorithm starts by inferring the need of a handover between the available positioning technologies on the overlapped coverage areas using fuzzy logic technique. If a handover process is required, a score is calculated for each captured Radio Frequency (RF) positioning technology. The score function consists of two parts: the first part represents the user preferences weights computed based on the Analytic Hierarchy Process (AHP). Whereas, the second part provides the user requirements (normalized values). UCOSA algorithm also integrates the Pedestrian Dead Reckoning (PDR) positioning technique through the navigation process to enhance the estimation of the smartphone's position. Second, we focus on the RSS fingerprinting positioning technique as it is the most widely used technique, which principle is to return the smartphone's position by comparing the real time recorded RSS values with the radiomap (i.e. a database of previous stored RSS values). Most of radiomap are organized in a grid, formed or Reference Point (RP): we propose a new design of radiomap which complements the grid with other RPs located at the center of gravity of each grid square. Third, we address the challenge of constructing a graph for a multi-floor building. We propose an algorithm that starts by creating the horizontal graph of each floor, separately, and then, adds vertical links between the different floors. Finally, we implement a novel algorithm, called SIONA that calculates and displays in a continuous manner the pathway between two distinct points being located indoor or outdoor. We conduct several real experiments inside the campus of the University of Passau in Germany to evaluate the performance of the proposed algorithms. They yield promising results in terms of continuity and accuracy (around 1.8 m indoor) of navigation service
Chung, Lung-Yang, and 鍾隆揚. "Deep Learning Based Indoor Localization and Mapping." Thesis, 2018. http://ndltd.ncl.edu.tw/handle/388s7a.
Повний текст джерела國立中興大學
電機工程學系所
107
Nowadays everyone has a smart phone at least. We can use it with services provided by Google if we want location and map. However, GPS signal can not be found when we stay indoors. We can not use GoogleMap in this situation. Deep learning have a great success in the computer vision field(for example, image classification, object detection). This thesis purposes a method using deep learning to solve the indoor localization and mapping problem. We split it into two sub-tasks, and solve individually with two deep learning models. To evaluate our models, we experiments with different datasets. Evaluating models on the real world dataset, we obtain the average error of localization model is 0.59m and mapping one is 0.65m.
Milstein, Adam. "Improved Particle Filter Based Localization and Mapping Techniques." Thesis, 2008. http://hdl.handle.net/10012/3619.
Повний текст джерела