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Full-Text Articles in Robotics
Neuromorphic Computing Applications In Robotics, Noah Zins
Neuromorphic Computing Applications In Robotics, Noah Zins
Dissertations, Master's Theses and Master's Reports
Deep learning achieves remarkable success through training using massively labeled datasets. However, the high demands on the datasets impede the feasibility of deep learning in edge computing scenarios and suffer from the data scarcity issue. Rather than relying on labeled data, animals learn by interacting with their surroundings and memorizing the relationships between events and objects. This learning paradigm is referred to as associative learning. The successful implementation of associative learning imitates self-learning schemes analogous to animals which resolve the challenges of deep learning. Current state-of-the-art implementations of associative memory are limited to simulations with small-scale and offline paradigms. Thus, …
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. …