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Full-Text Articles in Engineering
Comparison Of Visual Simultaneous Localization And Mapping Methods For Fixed-Wing Aircraft Using Slambench2, Patrick R. Latcham
Comparison Of Visual Simultaneous Localization And Mapping Methods For Fixed-Wing Aircraft Using Slambench2, Patrick R. Latcham
Theses and Dissertations
Visual Simultaneous Localization and Mapping (VSLAM) algorithms have evolved rapidly in the last few years, however there has been little research evaluating current algorithm's effectiveness and limitations when applied to tracking the position of a fixed-wing aerial vehicle. This research looks to evaluate current monocular VSLAM algorithms' performance on aerial vehicle datasets using the SLAMBench2 benchmarking suite. The algorithms tested are MonoSLAM, PTAM, OKVIS, LSDSLAM, ORB-SLAM2, and SVO, all of which are built into the SLAMBench2 software. The algorithms' performance is evaluated using simulated datasets generated in the AftrBurner Engine. The datasets were designed to test the quality of each …
Convolutional Neural Network Architecture Study For Aerial Visual Localization, Jedediah M. Berhold
Convolutional Neural Network Architecture Study For Aerial Visual Localization, Jedediah M. Berhold
Theses and Dissertations
In unmanned aerial navigation the ability to determine the aircraft's location is essential for safe flight. The Global Positioning System (GPS) is the default modern application used for geospatial location determination. GPS is extremely robust, very accurate, and has essentially solved aerial localization. Unfortunately, the signals from all Global Navigation Satellite Systems (GNSS) to include GPS can be jammed or spoofed. To this response it is essential to develop alternative systems that could be used to supplement navigation systems, in the event of a lost GNSS signal. Public and governmental satellites have provided large amounts of high-resolution satellite imagery. These …
Rss-Based Device-Free Passive Detection And Localization Using Home Automation Network Radio Frequencies, Tiffany M. Phan
Rss-Based Device-Free Passive Detection And Localization Using Home Automation Network Radio Frequencies, Tiffany M. Phan
Theses and Dissertations
This research provided a proof of concept for a device-free passive (DfP) system capable of detecting and localizing a target through exploitation of a home automation network’s radio frequency (RF) signals. The system was developed using Insteon devices with a 915 MHz center frequency. Without developer privileges, limitations of the Insteon technology like no intrinsic received signal strength (RSS) field and silent periods between messages were overcome by using software-defined radios to simulate Insteon devices capable of collecting and reporting RSS, and by creating a message generation script and implementing a calibrated filter threshold to reduce silent periods. Evaluation of …
Optical Spectroscopy Of Wide Bandgap Semiconductor Heterostructures And Group-Iv Alloy Quantum Dots, Tanner A. Nakagawara
Optical Spectroscopy Of Wide Bandgap Semiconductor Heterostructures And Group-Iv Alloy Quantum Dots, Tanner A. Nakagawara
Theses and Dissertations
Efficient and robust blue InGaN multiple quantum well (MQW) light emitters have become ubiquitous; however, they still have unattained theoretical potential. It is widely accepted that “localization” of carriers due to indium fluctuations theoretically enhance their efficiency by moderating defect-associated nonradiative recombination. To help develop a complete understanding of localization effects on carrier dynamics, this thesis explores degree of localization in InGaN MQWs and its dependence on well thickness and number of wells, through temperature and power dependent photoluminescence measurements. Additionally, silicon-compatible, nontoxic, colloidally synthesizable 2-5 nm Ge1-xSnx alloy quantum-dots (QDs) are explored for potential visible to …
Compact Fmcw Radar For Gps-Denied Navigation And Sense And Avoid, James David Mackie
Compact Fmcw Radar For Gps-Denied Navigation And Sense And Avoid, James David Mackie
Theses and Dissertations
Location information is vital for any type of aircraft and even more crucial for Unmanned Aerial Systems (UAS). GPS is a readily available solution but signals can easily be jammed or lost. In this thesis, radar is explored as a backup system for self-localization when GPS signals are not available. The method proposed requires that an area be pre mapped by collecting radar data with known latitude and longitude coordinates. New radar data is then collected and compared to previously stored values. Channel matrices are stored at each point and are used as the basis for location comparisons. Various methods …
Walkcompass: Finding Walking Direction Leveraging Smartphone's Inertial Sensors, Nirupam Roy
Walkcompass: Finding Walking Direction Leveraging Smartphone's Inertial Sensors, Nirupam Roy
Theses and Dissertations
Determining moving direction with smartphone's inertial sensors is a well known problem in the field of location service. Compass alone cannot solve this problem because smartphone's compass cannot achieve high accuracy. Moreover GPS is not suitable in indoor scenario. Another well known approach is dead-reckoning but dead-reckoning needs to know phones initial orientation and over time it keeps accumulating errors and after some time the estimation becomes to noisy to use. To overcome these limitations, we propose a solution called WalkCompass which is specially designed for pedestrians keeping in mind the variation of force during normal human walk. Therefore the …