Engineering Commons^™

Enhancing 3d Visual Odometry With Single-Camera Stereo Omnidirectional Systems, Carlos A. Jaramillo

Dissertations, Theses, and Capstone Projects

We explore low-cost solutions for efficiently improving the 3D pose estimation problem of a single camera moving in an unfamiliar environment. The visual odometry (VO) task -- as it is called when using computer vision to estimate egomotion -- is of particular interest to mobile robots as well as humans with visual impairments. The payload capacity of small robots like micro-aerial vehicles (drones) requires the use of portable perception equipment, which is constrained by size, weight, energy consumption, and processing power. Using a single camera as the passive sensor for the VO task satisfies these requirements, and it motivates the …

Service Quality Assessment For Cloud-Based Distributed Data Services, Arun Adiththan

Dissertations, Theses, and Capstone Projects

The issue of less-than-100% reliability and trust-worthiness of third-party controlled cloud components (e.g., IaaS and SaaS components from different vendors) may lead to laxity in the QoS guarantees offered by a service-support system S to various applications. An example of S is a replicated data service to handle customer queries with fault-tolerance and performance goals. QoS laxity (i.e., SLA violations) may be inadvertent: say, due to the inability of system designers to model the impact of sub-system behaviors onto a deliverable QoS. Sometimes, QoS laxity may even be intentional: say, to reap revenue-oriented benefits by cheating on resource allocations and/or …

Vision-Based Assistive Indoor Localization, Feng Hu

Dissertations, Theses, and Capstone Projects

An indoor localization system is of significant importance to the visually impaired in their daily lives by helping them localize themselves and further navigate an indoor environment. In this thesis, a vision-based indoor localization solution is proposed and studied with algorithms and their implementations by maximizing the usage of the visual information surrounding the users for an optimal localization from multiple stages. The contributions of the work include the following: (1) Novel combinations of a daily-used smart phone with a low-cost lens (GoPano) are used to provide an economic, portable, and robust indoor localization service for visually impaired people. (2) …

Collaborative Appearance-Based Place Recognition And Improving Place Recognition Using Detection Of Dynamic Objects, Juan Pablo Munoz

Dissertations, Theses, and Capstone Projects

This dissertation makes contributions to the problem of Long-Term Appearance-Based Place Recognition. We present a framework for place recognition in a collaborative scheme and a method to reduce the impact of dynamic objects on place representations. We demonstrate our findings using a state-of-the-art place recognition approach.

We begin in Part I by describing the general problem of place recognition and its importance in applications where accurate localization is crucial. We discuss feature detection and description and also explain the functioning of several place recognition frameworks.

In Part II, we present a novel framework for collaboration between agents from a pure …

Nanoporous Carbon-Based Co2 Reduction Catalysts: Exploring The Combined Effects Of Surface Chemistry And Porosity, Wanlu Li

Dissertations, Theses, and Capstone Projects

For the first-time sulfur-doped, nitrogen-doped and sulfur, nitrogen-codoped nanoporous carbons were systematically studied as catalysts for CO₂ electrochemical reduction reaction (CO₂ERR). The Faradaic efficiencies (FE) of CO and CH₄ formation were calculated to evaluate the performance of these carbons. The best catalysts showed the FE of CO and CH₄ formation of 29% and 0.76%, respectively. It was found that the overall performance in CO₂ERR dramatically increased upon the reduction pretreatment of the carbons in N₂-saturated electrolyte before the CO₂ reduction process. The pretreated carbon showed the maximum FE of CO …