Browsing by Subject "SLAM"
Now showing items 1-5 of 5
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Dense Reconstruction from Visual SLAM with Probabilistic Multi-Sequence Merging
(2023-12-14)This thesis presents a comprehensive visual SLAM system that extends the application of ORB-SLAM3. Using it as a template, a supplementary and optional function of 3D dense reconstruction is implemented for both RGB-D and ... -
Long Range Underwater Navigation using Gravity-Based Measurements
(2020-04-30)The aim of this thesis is to demonstrate feasibility of a gravity-based system for long range underwater localization. Such a system is demonstrated, in simulations, with the use of particle filter-based localization and ... -
Multi-Objective Optimisation of RTAB-Map Parameters Using Genetic Algorithm for Indoor 2D SLAM
(2020-12-09)Currently, there are multiple packages available to implement different Simultaneous Localisation And Mapping (SLAM) approaches in Robot Operating System (ROS). To effectively obtain sensor data, these packages use parameters ... -
Scan Context 3D Lidar Inertial Odometry via Iterated ESKF and Incremental K-Dimensional Tree
(2022-07-12)This thesis focused on a 3D lidar inertial odometry algorithm framework that improves the Lightweight and ground optimized lidar odometry and mapping (LeGO-LOAM) by constructing a new back-end optimization algorithm. In ... -
Seafloor Elevation Trends as Environmental Features for Data Association in Underwater Simultaneous Localization and Mapping
(2015)While critical to the Simultaneous Localization and Mapping (SLAM), process data association is often unreliable, especially so in a noisy, dynamic, underwater environment. This thesis presents a novel approach for data ...