Engineering Commons^™

Integrated Environment And Proximity Sensing For Uav Applications, Shawn S. Brackett

Electronic Theses and Dissertations

As Unmanned Aerial Vehicle (UAV), or “drone” applications expand, new methods for sensing, navigating and avoiding obstacles need to be developed. The project applies an Extended Kalman Filter (EKF) to a simulated quadcopter vehicle though Matlab in order to estimate not only the vehicle state but the world state around the vehicle. The EKF integrates multiple sensor readings from range sensors, IMU sensors, and radiation sensors and combines this information to optimize state estimates. The result is an estimated world map to be used in vehicle navigation and obstacle avoidance.

The simulation handles the physics behind the vehicle flight. As …

Spatial Relations And Natural-Language Semantics For Indoor Scenes, Stacy A. Doore

Electronic Theses and Dissertations

Over the past 15 years, there have been increased efforts to represent and communicate spatial information about entities within indoor environments. Automated annotation of information about indoor environments is needed for natural-language processing tasks, such as spatially anchoring events, tracking objects in motion, scene descriptions, and interpretation of thematic places in relationship to confirmed locations. Descriptions of indoor scenes often require a fine granularity of spatial information about the meaning of natural-language spatial utterances to improve human-computer interactions and applications for the retrieval of spatial information. The development needs of these systems provide a rationale as to why—despite an extensive …