Now showing items 1-16 of 16

    • 3D Ground Truth Generation Using Pre-Trained Deep Neural Networks 

      Lee, Jungwook (University of Waterloo, 2019-05-24)
      Training 3D object detectors on publicly available data has been limited to small datasets due to the large amount of effort required to generate annotations. The difficulty of labeling in 3D using 2.5D sensors, such as ...
    • Autonomous Driving: Baseline Autonomy 

      Dakibay, Assylbek (University of Waterloo, 2017-07-13)
      In near future Autonomous driving will affect every aspect of transportation and offer a significant boost in mobility for everyone. Autonomous driving techniques and modules must be chosen according to the task the ...
    • Coverage Path Planning and Room Segmentation in Indoor Environments using the Constriction Decomposition Method 

      Brown, Stanley (University of Waterloo, 2017-08-28)
      The task of complete coverage path planning in complex 2D environments is a classic NP- Hard problem that has been an active research topic for well over 30 years. A common approach to solving coverage problem in such ...
    • Deep Learning Based Place Recognition for Challenging Environments 

      Kumar, Devinder (University of Waterloo, 2016-08-25)
      Visual based place recognition involves recognising familiar locations despite changes in environment or view-point of the camera(s) at the locations. There are existing methods that deal with these seasonal changes or ...
    • Informed Data Selection For Dynamic Multi-Camera Clusters 

      Das, Arun (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 ...
    • LIDAR Odometry with Joint Geometric and Appearance Landmarks 

      Skikos, Benjamin Anargyros Peregrine (University of Waterloo, 2019-04-08)
      Odometry is the problem of estimating the motion of a moving platform relative to its environment without measurements to a fixed reference point. This is a critical problem for mobile robotics applications where ...
    • LiDAR-MIMO: Efficient Uncertainty Estimation for LiDAR-based 3D Object Detection 

      Pitropov, Matthew (University of Waterloo, 2022-02-09)
      The estimation of uncertainty in robotic vision, such as 3D object detection, is an essential component in developing safe autonomous systems aware of their own performance. However, the deployment of current uncertainty ...
    • Modeling Dynamic Systems for Multi-Step Prediction with Recurrent Neural Networks 

      Mohajerin, Nima (University of Waterloo, 2017-12-20)
      This thesis investigates the applicability of Recurrent Neural Networks (RNNs) and Deep Learning methods for multi-step prediction of robotic systems. The unmodeled dynamics and simplifying assumptions in classic modeling ...
    • Nitrous Oxide State Estimation in Hybrid Rocket Oxidizer Tanks 

      Borgdorff, Steven (University of Waterloo, 2017-02-22)
      There is an increasing interest in the use of hybrid rockets to accomplish tasks that require precise control of the craft. Fuel is being consumed as the craft is propelled, causing the mass of the rocket to change. In ...
    • Nonlinear and Geometric Controllers for Rigid Body Vehicles 

      Akhtar, Adeel (University of Waterloo, 2018-10-18)
      In this thesis we investigate the motion control problem for a class of vehicles C V , which includes satellites, quadrotors, underwater vehicles, and tailsitters. Given a globally represented model of C V , and a curve, ...
    • On the Manifold: Representing Geometry in C++ for State Estimation 

      Koppel, Leonid (University of Waterloo, 2018-12-19)
      Manipulating geometric objects is central to state estimation problems in robotics. Typical algorithms must optimize over non-Euclidean states, such as rigid transformations on the SE(3) manifold, and handle measurements ...
    • Real-time 3D Object Detection for Autonomous Driving 

      Mozifian, Melissa Farinaz (University of Waterloo, 2018-05-10)
      This thesis focuses on advancing the state-of-the-art 3D object detection and localization in autonomous driving. An autonomous vehicle requires operating within a very unpredictable and dynamic environment. Hence a robust ...
    • Robust Bayesian Detection and Tracking of Lane Boundary Markings for Autonomous Driving 

      Smart, Michael (University of Waterloo, 2016-05-11)
      Lane detection is a fundamental and challenging task in autonomous driving and must be performed safely and robustly to avoid catastrophic failures. Current methods do not perform effectively in the challenging scenarios ...
    • Runtime Restriction of the Operational Design Domain: A Safety Concept for Automated Vehicles 

      Colwell, Ian (University of Waterloo, 2018-06-14)
      Automated vehicles need to operate safely in a wide range of environments and hazards. The complex systems that make up an automated vehicle must also ensure safety in the event of system failures. This thesis proposes an ...
    • SIVO: Semantically Informed Visual Odometry and Mapping 

      Ganti, Pranav (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 ...
    • Towards Robust Autonomous MAV Landing with a Gimbal Camera 

      Choi, Christopher (University of Waterloo, 2018-11-30)
      As micro aerial vehicles (MAVs) become increasingly common as platforms for aerial inspection, monitoring and tracking, the need for robust automated landing methods increases, for both static and dynamic landing targets. ...


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