Sökning: "simultaneous localisation and mapping"

Visar resultat 1 - 5 av 19 uppsatser innehållade orden simultaneous localisation and mapping.

  1. 1. Robust Aircraft Positioning using Signals of Opportunity with Direction of Arrival

    Master-uppsats, Linköpings universitet/Reglerteknik

    Författare :Erik Axelsson; Sebastian Fagerstedt; [2023]
    Nyckelord :Simultaneous localisation and mapping; direction of arrival; signals of opportunity; extended Kalman filter; positioning;

    Sammanfattning : This thesis considers the problem of using signals of opportunity (SOO) with known direction of arrival (DOA) for aircraft positioning. SOO is a collective name for a wide range of signals not intended for navigation but which can be intercepted by the radar warning system on an aircraft. LÄS MER

  3. 2. Outlier Robustness in Server-Assisted Collaborative SLAM : Evaluating Outlier Impact and Improving Robustness

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

    Författare :José Miguel de Almeida Pedro; [2023]
    Nyckelord :SLAM; Robust Estimation; Multi-Device Algorithms; SLAM; Robust uppskattning; Algoritmer för flera enheter;

    Sammanfattning : In order to be able to perform many tasks, autonomous devices need to understand their environment and know where they are in this environment. Simultaneous Localisation and Mapping (SLAM) is a solution to this problem. LÄS MER

  4. 3. Instance Segmentation on depth images using Swin Transformer for improved accuracy on indoor images

    Master-uppsats, Linköpings universitet/Artificiell intelligens och integrerade datorsystem

    Författare :Alfred Hagberg; Mustaf Abdullahi Musse; [2022]
    Nyckelord :Instance Segmentation; segmentation; deep learning; semantic segmentation; swin transformer; mask rcnn; rcnn; cascade mask rcnn; slam; simultaneous localization and mapping; object detection; COCO; NYU dataset; vision transformer;

    Sammanfattning : The Simultaneous Localisation And Mapping (SLAM) problem is an open fundamental problem in autonomous mobile robotics. One of the latest most researched techniques used to enhance the SLAM methods is instance segmentation. LÄS MER

  5. 4. AUV SLAM constraint formation using side scan sonar

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

    Författare :Marco Schouten; [2022]
    Nyckelord :AUV; Side Scan Sonar; Pose Estimation; SLAM; Optimisation; AUV; Side Scan Sonar; Pose Estimation; SLAM; Optimisation;

    Sammanfattning : Autonomous underwater vehicle (AUV) navigation has been a challenging problem for a long time. Navigation is challenging due to the drift present in underwater environments and the lack of precise localisation systems such as GPS. Therefore, the uncertainty of the vehicle’s pose grows with the mission’s duration. LÄS MER

  7. 5. Investigation of Increased Mapping Quality Generated by a Neural Network for Camera-LiDAR Sensor Fusion

    Master-uppsats, KTH/Mekatronik

    Författare :Joan Li Guisell Correa Silva; Sofia Jönsson; [2021]
    Nyckelord :sensor fusion; error detection; neural network; sources of error; mapping quality; SLAM; sensor fusion; felavkänning; neuralt nätverk; felkällor; kartläggningskvalitet; SLAM;

    Sammanfattning : This study’s aim was to investigate the mapping part of Simultaneous Localisation And Mapping (SLAM) in indoor environments containing error sources relevant to two types of sensors. The sensors used were an Intel Realsense depth camera and an RPlidar Light Detection AndRanging (LiDAR). LÄS MER