Search for dissertations about: "Simultaneous Localization and Mapping"

Showing result 6 - 10 of 22 swedish dissertations containing the words Simultaneous Localization and Mapping.

  2. 6. Robust Estimation of Motion Parameters and Scene Geometry : Minimal Solvers and Convexification of Regularisers for Low-Rank Approximation

    Author : Marcus Valtonen Örnhag; Matematik LTH; []
    Keywords : NATURVETENSKAP; NATURAL SCIENCES; Computer Vision; Visual Odometry; Simultaneous Localization and Mapping; minimal solvers; Convex relaxations; Structure from motion;

    Abstract : In the dawning age of autonomous driving, accurate and robust tracking of vehicles is a quintessential part. This is inextricably linked with the problem of Simultaneous Localisation and Mapping (SLAM), in which one tries to determine the position of a vehicle relative to its surroundings without prior knowledge of them. READ MORE

  4. 7. View Planning and Refractive Modeling for Structure and Motion

    Author : Sebastian Haner; Matematik LTH; []
    Keywords : NATURVETENSKAP; NATURAL SCIENCES; NATURVETENSKAP; NATURAL SCIENCES; Computer Vision; Structure and Motion; 3D Reconstruction; View Planning; Refractive Modeling;

    Abstract : This thesis presents contributions to structure-and-motion estimation, a central topic in the field of geometric computer vision. In particular, the problem of view planning is considered, and continuous and discrete optimization-based algorithms are given for how to plan the path of a sensor to its destination, while balancing the competing goals of path length and reconstruction accuracy. READ MORE

  5. 8. Visual Odometryin Principle and Practice

    Author : Mikael Persson; Michael Felsberg; Klas Nordberg; Per-Erik Forssén; Janne Heikkilä; Linköpings universitet; []
    Keywords : NATURVETENSKAP; NATURAL SCIENCES; Visual Odometry; Continuous Pose Trajectory; P3P; PNP; VO; Tracking; Calibration;

    Abstract : Vision is the primary means by which we know where we are, what is nearby, and how we are moving. The corresponding computer-vision task is the simultaneous mapping of the surroundings and the localization of the camera. This goes by many names of which this thesis uses Visual Odometry. READ MORE

  6. 9. Efficient Structure and Motion: Path Planning, Uncertainty and Sparsity

    Author : Sebastian Haner; Matematik LTH; []
    Keywords : NATURVETENSKAP; NATURAL SCIENCES; NATURVETENSKAP; NATURAL SCIENCES;

    Abstract : This thesis explores methods for solving the structure-and-motion problem in computer vision, the recovery of three-dimensional data from a series of two-dimensional image projections. The first paper investigates an alternative state space parametrization for use with the Kalman filter approach to simultaneous localization and mapping, and shows it has superior convergence properties compared with the state-of-the-art. READ MORE

  7. 10. Bayesian Inference for Nonlinear Dynamical Systems : Applications and Software Implementation

    Author : Jerker Nordh; Institutionen för reglerteknik; []
    Keywords : TEKNIK OCH TEKNOLOGIER; ENGINEERING AND TECHNOLOGY; Indoor Navigation; pyParticleEst; Software Implementation; Simultaneous Localization and Mapping; Parameter Estimation; System Identification; Sequential Importance Sampling; Particle Filter; Bayesian Inference; Markov Chain Monte Carlo; Particle Smoother;

    Abstract : The topic of this thesis is estimation of nonlinear dynamical systems, focusing on the use of methods such as particle filtering and smoothing. There are three areas of contributions: software implementation, applications of nonlinear estimation and some theoretical extensions to existing algorithms. READ MORE