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Collaborative SLAM with Crowdsourced Data

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자료유형	E-Book
개인저자	Huai, Jianzhu.
단체저자명	The Ohio State University. Civil Engineering.
서명/저자사항	Collaborative SLAM with Crowdsourced Data.
발행사항	[S.l.] : The Ohio State University., 2017
발행사항	Ann Arbor : ProQuest Dissertations & Theses, 2017
형태사항	245 p.
소장본 주기	School code: 0168.
ISBN	9780438091016
일반주기	Source: Dissertation Abstracts International, Volume: 79-10(E), Section: B. Adviser: Dorota Grejner-Brzezinska.
요약	Navigation from one place to another involves estimating location and orientation. As such, navigation and location-based services are essential to our daily lives. Prevalent navigation techniques rely on integrating global navigation satellite
요약	This problem is approached at three aspects in this work: collaborative SLAM with crowdsourced visual data, calibrating a camera-IMU (inertial measurement unit) sensor system found on mobile devices, and collaborative SLAM with crowdsourced visu
요약	For the first aspect, a collaborative SLAM framework is proposed based on the client-server architecture. It has independent clients estimating the device motion using the visual data from mobile devices. The output from these clients is process
요약	For the second aspect, a calibration approach based on the extended Kalman filter (EKF) is developed for the camera-IMU system of a mobile device. Aimed at target-free on-the-fly calibration, this approach estimates the intrinsic parameters of b
요약	The calibration approach provides essential parameters for integrating visual and inertial data which is the highlight of the third aspect. There the collaborative SLAM framework is extended to work with visual and inertial data. While keeping s
요약	In summary, these research efforts have proved that accurate and effective collaborative SLAM is achievable with crowdsourced data at the level that has not been demonstrated before. It represents a step towards location-based services which har
일반주제명	Civil engineering. Computer engineering.
언어	영어
기본자료 저록	Dissertation Abstracts International79-10B(E). Dissertation Abstract International
대출바로가기	http://www.riss.kr/pdu/ddodLink.do?id=T15000197