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Navigation in Depth Images.

Cowley, Anthony.

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Navigation in Depth Images.

紀錄類型:	書目-電子資源 : Monograph/item
正題名/作者:	Navigation in Depth Images./
作者:	Cowley, Anthony.
出版者:	Ann Arbor : ProQuest Dissertations & Theses, : 2020,
面頁冊數:	167 p.
附註:	Source: Dissertations Abstracts International, Volume: 82-07, Section: B.
Contained By:	Dissertations Abstracts International82-07B.
標題:	Robotics. -
電子資源:	https://pqdd.sinica.edu.tw/twdaoapp/servlet/advanced?query=28156300
ISBN:	9798557048538

Navigation in Depth Images.
Cowley, Anthony.

Navigation in Depth Images. - Ann Arbor : ProQuest Dissertations & Theses, 2020 - 167 p.

Source: Dissertations Abstracts International, Volume: 82-07, Section: B.

Thesis (Ph.D.)--University of Pennsylvania, 2020.

This item must not be sold to any third party vendors.

The ability to faithfully represent and reason about fine geometric detail enables robot motion and manipulation planning in confined or cluttered spaces. However, the capacity to represent fine detail with accuracy and precision can limit scalability by inducing overhead commensurate with expressivity. This thesis describes a technique for building large scale atlases of inter-connected, high detail maps by constructing a pose graph whose nodes are annotated with wide-angle panoramic depth images. These images are fast to build and update, efficiently represent fine geometric detail, and provide a natural structuring mechanism by which to decompose a large map into loosely-coupled pieces.We demonstrate simultaneous localization and mapping indoors and outdoors, with the sensor carried by a walking human, a running human, a walking quadrupedal robot, a wheeled robot, a flying quadcopter, and an automobile on public roads. Tracking is maintained by a spinning lidar sensor with a 32° vertical field of view while undergoing instantaneous rolling rotations of greater than 80°/s. The environments considered range from caves and tunnels, to dense forests, to cluttered lab spaces. The mapper proves itself capable of identifying loop closures over kilometers-long traversals with metric errors of less than one percent. Additionally, mapper performance is evaluated in the context of embedded GPUs, and demonstrated to run substantially faster than real time, while requiring storage on the order of 100 kilobytes-per-meter-traveled to retain detailed maps with a large spatial extent.

ISBN: 9798557048538Subjects--Topical Terms:

519753
Robotics.
Subjects--Index Terms:

Depth image

Navigation in Depth Images.
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300 $a 167 p.
500 $a Source: Dissertations Abstracts International, Volume: 82-07, Section: B.
500 $a Advisor: Taylor, Camillo J.
502 $a Thesis (Ph.D.)--University of Pennsylvania, 2020.
506 $a This item must not be sold to any third party vendors.
520 $a The ability to faithfully represent and reason about fine geometric detail enables robot motion and manipulation planning in confined or cluttered spaces. However, the capacity to represent fine detail with accuracy and precision can limit scalability by inducing overhead commensurate with expressivity. This thesis describes a technique for building large scale atlases of inter-connected, high detail maps by constructing a pose graph whose nodes are annotated with wide-angle panoramic depth images. These images are fast to build and update, efficiently represent fine geometric detail, and provide a natural structuring mechanism by which to decompose a large map into loosely-coupled pieces.We demonstrate simultaneous localization and mapping indoors and outdoors, with the sensor carried by a walking human, a running human, a walking quadrupedal robot, a wheeled robot, a flying quadcopter, and an automobile on public roads. Tracking is maintained by a spinning lidar sensor with a 32° vertical field of view while undergoing instantaneous rolling rotations of greater than 80°/s. The environments considered range from caves and tunnels, to dense forests, to cluttered lab spaces. The mapper proves itself capable of identifying loop closures over kilometers-long traversals with metric errors of less than one percent. Additionally, mapper performance is evaluated in the context of embedded GPUs, and demonstrated to run substantially faster than real time, while requiring storage on the order of 100 kilobytes-per-meter-traveled to retain detailed maps with a large spatial extent.
590 $a School code: 0175.
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650 4 $a Ocean engineering. $3 660731
650 4 $a Remote sensing. $3 535394
650 4 $a Naval engineering. $3 3173824
653 $a Depth image
653 $a Lidar
653 $a Mapping
653 $a Panorama
653 $a Pose graph
653 $a SLAM
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793 $a English
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