Essays about: "smoothing and mapping"

Showing result 1 - 5 of 15 essays containing the words smoothing and mapping.

  1. 1. Visual-Inertial SLAM Using a Monocular Camera and Detailed Map Data

    University essay from Linköpings universitet/Reglerteknik

    Author : Viktor Ekström; Ludvig Berglund; [2023]
    Keywords : SLAM; localisation; monocular camera; GTSAM; factor graphs; iSAM2;

    Abstract : The most commonly used localisation methods, such as GPS, rely on external signals to generate an estimate of the location. There is a need of systems which are independent of external signals in order to increase the robustness of the localisation capabilities. READ MORE

  3. 2. Robust Non-Linear State Estimation for Underwater Acoustic Localization : Expanding on Gaussian Mixture Methods

    University essay from KTH/Skolan för elektroteknik och datavetenskap (EECS)

    Author : Diogo Antunes; [2023]
    Keywords : Robust state estimation; Underwater localization; Target tracking; Gaussian mixture; AUV; Estimação robusta de estado; Localização subaquática; Rastreamento de alvos; Mistura Gaussiana; AUV; Robust tillståndsuppskattning; Undervattenslokalisering; Målspårning; Gaussisk blandning; AUV;

    Abstract : Robust state estimation solutions must deal with faulty measurements, called outliers, and unknown data associations, which lead to multiple feasible hypotheses. Take, for instance, the scenario of tracking two indistinguishable targets based on position measurements, where each measurement could refer to either of the targets or even be a faulty reading. READ MORE

  4. 3. Evaluation of Computer Tomography based Cancer Diagnostics with the help of 3D Printed Phantoms and Deep Learning

    University essay from KTH/Skolan för teknikvetenskap (SCI)

    Author : Alex Back; Pontus Pandurevic; [2023]
    Keywords : Machine Learning; Deep Learning; Convolutional Neural Networks; Perception Loss; CNN; DL; ML; Computer Tomography; CT; Cancer Diagnostics; Evaluation of Image Reconstruction; Radiomics; Tumors; 3D Printed Phantoms; 3D Printing; PLA;

    Abstract : Computed x-ray tomography is one of the most common medical imaging modalities andas such ways of improving the images are of high relevance. Applying deep learningmethods to denoise CT images has been of particular interest in recent years. READ MORE

  5. 4. Robotics Approach in Mobile Laser Scanning : Generation of Georeferenced Point-based Forest Models

    University essay from KTH/Skolan för elektroteknik och datavetenskap (EECS)

    Author : Tamas Faitli; [2023]
    Keywords : mobile laser scanning; rotating lidar; slam; real-time positioning; georeferencing; state estimation; lidar odometry; point-based forest model; forest harvester; forestry; mobil laserskanning; roterande lidar; slam; realtidspositionering; georeferens; tillståndsuppskattning; lidarodometri; punktbaserad skogsmodell; skogsskördare; skogsbruk;

    Abstract : A mobile laser scanning (MLS) system equipped with a lidar, inertial navigation system and satellite positioning can be used to reconstruct georeferenced point-based models of the surveyed environments. Ideal reconstruction requires accurate trajectories that are challenging to obtain in forests. READ MORE

  6. 5. Map Partition and Loop Closure in a Factor Graph Based SAM System

    University essay from Linköpings universitet/Reglerteknik

    Author : Emil Relfsson; [2020]
    Keywords : SAM; Factor graph; Map partition; Smoothing and Mapping; SLAM;

    Abstract : The graph-based formulation of the navigation problem is establishing itself as one of the standard ways to formulate the navigation problem within the sensor fusion community. It enables a convenient way to access information from previous positions which can be used to enhance the estimate of the current position. READ MORE