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V-Slam And Sensor Fusion For Ground Robots, Ejup Hoxha
V-Slam And Sensor Fusion For Ground Robots, Ejup Hoxha
Dissertations and Theses
In underground, underwater and indoor environments, a robot has to rely solely on its on-board sensors to sense and understand its surroundings. This is the main reason why SLAM gained the popularity it has today. In recent years, we have seen excellent improvement on accuracy of localization using cameras and combinations of different sensors, especially camera-IMU (VIO) fusion. Incorporating more sensors leads to improvement of accuracy,but also robustness of SLAM. However, while testing SLAM in our ground robots, we have seen a decrease in performance quality when using the same algorithms on flying vehicles.We have an additional sensor for ground …
Assessing Satellite Image Data Fusion With Information Theory Metrics, James Cross
Assessing Satellite Image Data Fusion With Information Theory Metrics, James Cross
Dissertations and Theses
A common problem in remote sensing is estimating an image with high spatial and high spectral resolution given separate sources of measurements from satellite instruments, one having each of these desirable properties. This thesis presents a survey of seven families of algorithms which have been developed to provide this common pattern of satellite image data fusion. They are all tested on artificially degraded sets of satellite data from the Moderate Resolution Imaging Spectroradiometer (“MODIS”) with known ideal results, and evaluated using the commonly accepted data fusion assessment metrics spectral angle mapper (“SAM”) and Erreur Relative Globale Adimensionelle de Synth`ese (“ERGAS”). …