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Full-Text Articles in Engineering
Evaluation Of Lidar Uncertainty And Applications Towards Slam In Off-Road Environments, Zachary D. Jeffries
Evaluation Of Lidar Uncertainty And Applications Towards Slam In Off-Road Environments, Zachary D. Jeffries
Dissertations, Master's Theses and Master's Reports
Safe and robust operation of autonomous ground vehicles in all types of conditions and environment necessitates complex perception systems and unique, innovative solutions. This work addresses automotive lidar and maximizing the performance of a simultaneous localization and mapping stack. An exploratory experiment and an open benchmarking experiment are both presented. Additionally, a popular SLAM application is extended to use the type of information gained from lidar characterization, demonstrating the performance gains and necessity to tightly couple perception software and sensor hardware. The first exploratory experiment collects data from child-sized, low-reflectance targets over a range from 15 m to 35 m. …
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 …
Localization, Visualization And Evacuation Guidance System In Emergency Situations, Jingyan Tang
Localization, Visualization And Evacuation Guidance System In Emergency Situations, Jingyan Tang
Masters Theses
Urban search and rescue is needed for a variety of emergencies or disasters, including tornadoes, floods, dam failures, technological accidents, and terrorist activities. The efficiency to save people is becoming very important. With the development of the technology, people are trying to find a better way to help people get out of the dangerous places as soon as possible. DIORAMA system has been proposed to help with this problem and turns out very successful on improving efficiency during emergency situation. However, the current DIORAMA system is not perfect for all scenarios, for example, there are some outdoor environments do not …