Browsing University of Waterloo by Subject "SLAM"
Now showing items 1-11 of 11
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Coordinated Landing and Mapping with Aerial and Ground Vehicle Teams
(University of Waterloo, 2012-09-19)Micro Umanned Aerial Vehicle~(UAV) and Umanned Ground Vehicle~(UGV) teams present tremendous opportunities in expanding the range of operations for these vehicles. An effective coordination of these vehicles can take ... -
Improving Scan Registration Methods Using Secondary Point Data Channels
(University of Waterloo, 2014-08-27)Autonomous vehicle technology has advanced significantly in recent years and these vehicles are poised to make major strides into everyday use. Autonomous vehicles have already entered military and commercial use, performing ... -
Informed Data Selection For Dynamic Multi-Camera Clusters
(University of Waterloo, 2018-08-13)Traditional multi-camera systems require a fixed calibration between cameras to provide the solution at the correct scale, which places many limitations on its performance. This thesis investigates the calibration of dynamic ... -
Mobile Robot Manipulator System Design for Localization and Mapping in Cluttered Environments
(University of Waterloo, 2018-06-21)In this thesis, a compact mobile robot has been developed to build real-time 3D maps of hazards and cluttered environments inside damaged buildings for rescue tasks using visual Simultaneous Localization And Mapping ... -
Multi-frame Measurement Fusion for State Estimation
(University of Waterloo, 2007-09-27)Simultaneous Localization and Mapping (SLAM) is a technique used by robots and autonomous vehicles to build up a map while operating in an unknown environment, while at the same time keeping track of a current position ... -
Multi-sensor Fusion for Positioning and Semantic Information Extraction in Indoor Environments
(University of Waterloo, 2023-05-30)This thesis focuses on three significant challenges in multi-sensor data fusion for real-world uses: (1) Lack of multisensory datasets for mapping and positioning datasets in underground environments, (2) inefficient and ... -
Relative Pose Estimation Using Non-overlapping Multicamera Clusters
(University of Waterloo, 2014-01-17)This thesis considers the Simultaneous Localization and Mapping (SLAM) problem using a set of perspective cameras arranged such that there is no overlap in their fields-of-view. With the known and fixed extrinsic calibration ... -
Scan Registration Using the Normal Distributions Transform and Point Cloud Clustering Techniques
(University of Waterloo, 2013-04-23)As the capabilities of autonomous vehicles increase, their use in situations that are dangerous or dull for humans is becoming more popular. Autonomous systems are currently being used in several military and civilian ... -
SIVO: Semantically Informed Visual Odometry and Mapping
(University of Waterloo, 2018-11-12)Accurate localization is a requirement for any autonomous mobile robot. In recent years, cameras have proven to be a reliable, cheap, and effective sensor to achieve this goal. Visual simultaneous localization and mapping ... -
A Unified Hybrid Formulation for Visual SLAM
(University of Waterloo, 2021-02-16)Visual Simultaneous Localization and Mapping (Visual SLAM (VSLAM)), is the process of estimating the six degrees of freedom ego-motion of a camera, from its video feed, while simultaneously constructing a 3D model of the ... -
Vision-Inertial SLAM using Natural Features in Outdoor Environments
(University of Waterloo, 2006)Simultaneous Localization and Mapping (SLAM) is a recursive probabilistic inferencing process used for robot navigation when Global Positioning Systems (GPS) are unavailable. SLAM operates by building a map of the robot ...