Physical Sciences and Mathematics 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 …

List, Sample, And Count, Ali Assarpour

Dissertations, Theses, and Capstone Projects

Counting plays a fundamental role in many scientific fields including chemistry, physics, mathematics, and computer science. There are two approaches for counting, the first relies on analytical tools to drive closed form expression, while the second takes advantage of the combinatorial nature of the problem to construct an algorithm whose output is the number of structures. There are many algorithmic techniques for counting, they cover the explicit approach of counting by listing to the approximate approach of counting by sampling.

This thesis looks at counting three sets of objects. First, we consider a subclass of boolean functions that are monotone. …