Sökning: "Normal Distribution Transform"

Visar resultat 1 - 5 av 6 uppsatser innehållade orden Normal Distribution Transform.

  1. 1. Performance metrics and velocity influence for point cloud registration in autonomous vehicles

    Master-uppsats, KTH/Skolan för industriell teknik och management (ITM)

    Författare :Óscar Poveda Ruiz; [2023]
    Nyckelord :autonomous vehicle; localization; registration; metrics; error; classification; estimation; autonomt fordon; lokalisering; registrering; mätvärden; fel; klassificering; uppskattning;

    Sammanfattning : Autonomous vehicles are currently under study and one of the critical parts is the localization of the vehicle in the environment. Different localization methods have been studied over the years, such as the GPS sensor, commonly fused with other sensors such as the IMU. LÄS MER

  3. 2. Simulation-Based Portfolio Optimization with Coherent Distortion Risk Measures

    Master-uppsats, KTH/Matematisk statistik

    Författare :Andreas Prastorfer; [2020]
    Nyckelord :Risk Management; Portfolio Optimization; Conditional Value-at-Risk; Coherent Distortion Riks Measures; Elliptical Distribution; GARCH model; Normal Copulas; Extreme Value Theory; Risk Contributions; Riskhantering; Portföljoptimering; Conditional Value-at-Risk; Koherenta distortionsriskmått; Elliptiska fördelningar; GARCH modeller; Normal-copula; Extremvärdes teori; Riskbidrag;

    Sammanfattning : This master's thesis studies portfolio optimization using linear programming algorithms. The contribution of this thesis is an extension of the convex framework for portfolio optimization with Conditional Value-at-Risk, introduced by Rockafeller and Uryasev. LÄS MER

  4. 3. Consistent Outdoor Environment Mapping with a 3D Laser Scanner

    Master-uppsats, KTH/Skolan för elektroteknik och datavetenskap (EECS)

    Författare :Mengdi Huang; [2019]
    Nyckelord :;

    Sammanfattning : Simultaneous Localization and Mapping(SLAM) is an essential prerequisite for various automated systems, such as self-driving cars, and planetary rovers. These autonomous machines acquire the knowledge of the environment through building a map while exploring an unknown area. Without this knowledge, they are not able to make right decisions. LÄS MER

  5. 4. Analysis of the Representation of Orbital Errors and Improvement of their Modelling

    Master-uppsats, Luleå tekniska universitet/Institutionen för system- och rymdteknik

    Författare :Mini Gupta; [2018]
    Nyckelord :Space debris; space situational awareness; uncertainty characteristics; Gaussianity;

    Sammanfattning : In Space Situational Awareness (SSA), it is crucial to assess the uncertainty related to thestate vector of resident space objects (RSO). This uncertainty plays a fundamental role in, forexample, collision risk assessment and re-entry predictions. A realistic characterization of thisuncertainty is, therefore, necessary. LÄS MER

  7. 5. HANDHELD LIDAR ODOMETRY ESTIMATION AND MAPPING SYSTEM

    Master-uppsats, Mälardalens högskola/Inbyggda system

    Författare :Niclas Holmqvist; [2018]
    Nyckelord :SLAM; NDT; Normal Distribution Transform; Robotics; IMU; LiDAR; GPS; RTK-GPS; ego-motion; pose estimation;

    Sammanfattning : Ego-motion sensors are commonly used for pose estimation in Simultaneous Localization And Mapping (SLAM) algorithms. Inertial Measurement Units (IMUs) are popular sensors but suffer from integration drift over longer time scales. To remedy the drift they are often used in combination with additional sensors, such as a LiDAR. LÄS MER