Sökning: "Sparse maps"

Visar resultat 1 - 5 av 12 avhandlingar innehållade orden Sparse maps.

1. 1. Mapping and Merging Using Sound and Vision : Automatic Calibration and Map Fusion with Statistical Deformations

   Författare :Gabrielle Flood; Matematik LTH; []
   Nyckelord :NATURVETENSKAP; NATURAL SCIENCES; Time of arrival; TOA; Time-difference of arrival; TDOA; Subsample methods; Uncertainty measure; Constant offset; RANSAC; Map merging; Map fusion; Change detection; Collaborative SLAM; Structure from motion; SfM; SLAM; Mapping; Localisation; Registration; Sparse maps; Point clouds;

   Sammanfattning : Over the last couple of years both cameras, audio and radio sensors have become cheaper and more common in our everyday lives. Such sensors can be used to create maps of where the sensors are positioned and the appearance of the surroundings. LÄS MER

3. 2. Reconstruction of Past European Land Cover Based on Fossil Pollen Data : Gaussian Markov Random Field Models for Compositional Data

   Författare :Behnaz Pirzamanbein; Matematisk statistik; []
   Nyckelord :NATURVETENSKAP; NATURAL SCIENCES; NATURVETENSKAP; NATURAL SCIENCES; NATURVETENSKAP; NATURAL SCIENCES; Spatial Statistics; Adaptive Markov Chain Monte Carlo; Dirichlet Observation; Confidence Region; Palaeoecology; Past Human Land Use; Stochastic Partial Differential Equation;

   Sammanfattning : The aim of this thesis is to develop statistical models to reconstruct past land cover composition and human land use based on fossil pollen records over Europe for different time periods over the past 6000 years. Accurate maps of past land cover and human land use are needed when studying the interaction between climate and land surface, and the effects of human land use on past climate. LÄS MER

4. 3. Data-driven Approaches to Uncertainty Modelling for SLAM in the Open Sea

   Författare :Ignacio Torroba; John Folkesson; Patric Jensfelt; John Leonard; KTH; []
   Nyckelord :TEKNIK OCH TEKNOLOGIER; ENGINEERING AND TECHNOLOGY; Datalogi; Computer Science;

   Sammanfattning : Autonomous underwater vehicles (AUVs) equipped with multibeam echo-sounders have become indispensable tools for bathymetric mapping due to their ability to reach seabed regions inaccessible to surface vessels. However, the closer proximity to the survey area comes at the expense of a growing error in the AUV global pose estimate due to the lack of prior maps or a geo-referencing system underwater, such as GPS. LÄS MER

5. 4. Truncated Signed Distance Fields Applied To Robotics

   Författare :Daniel Ricão Canelhas; Achim Lilienthal; Todor Stoyanov; Giorgio Grisetti; Örebro universitet; []
   Nyckelord :NATURVETENSKAP; NATURAL SCIENCES; 3D mapping; pose estimation; feature detection; shape description; compression; unsupervised learning; Datavetenskap; Computer Science;

   Sammanfattning : This thesis is concerned with topics related to dense mapping of large scale three-dimensional spaces. In particular, the motivating scenario of this work is one in which a mobile robot with limited computational resources explores an unknown environment using a depth-camera. LÄS MER

7. 5. Probabilistic Mapping of Spatial Motion Patterns for Mobile Robots

   Författare :Tomasz Piotr Kucner; Martin Magnusson; Achim Lilienthal; Tomás Krajník; Örebro universitet; []
   Nyckelord :NATURVETENSKAP; NATURAL SCIENCES;

   Sammanfattning : To bring robots closer to real-world autonomy, it is necessary to equip them with tools allowing them to perceive, model and behave adequately to dynamic changes in the environment. The idea of incorporating information about dynamics not only in the robots reactive behaviours but also in global planning process stems from the fact that dynamic changes are typically not completely random and follow spatiotemporal patterns. LÄS MER