| LDR | | 02289nmm uu200409 4500 |
| 001 | | 000000334090 |
| 005 | | 20240805175120 |
| 008 | | 181129s2018 |||||||||||||||||c||eng d |
| 020 | |
▼a 9780438382763 |
| 035 | |
▼a (MiAaPQ)AAI10828044 |
| 035 | |
▼a (MiAaPQ)colorado:15580 |
| 040 | |
▼a MiAaPQ
▼c MiAaPQ
▼d 248032 |
| 082 | 0 |
▼a 629.8 |
| 100 | 1 |
▼a Falquez, Juan M. |
| 245 | 10 |
▼a Towards Robust Dense Visual Simultaneous Localization and Mapping (SLAM). |
| 260 | |
▼a [S.l.] :
▼b University of Colorado at Boulder.,
▼c 2018 |
| 260 | 1 |
▼a Ann Arbor :
▼b ProQuest Dissertations & Theses,
▼c 2018 |
| 300 | |
▼a 128 p. |
| 500 | |
▼a Source: Dissertation Abstracts International, Volume: 80-02(E), Section: B. |
| 500 | |
▼a Adviser: Christoffer Heckman. |
| 502 | 1 |
▼a Thesis (Ph.D.)--University of Colorado at Boulder, 2018. |
| 520 | |
▼a Long-term autonomy is the dream of many roboticists -- and if a robotic system can be split into three main categories: perception, planning and control -- then the biggest challenges to achieve this dream are undoubtedly faced in perception. La |
| 520 | |
▼a The objective of this dissertation is to present components that would lead to a robust dense visual SLAM system. It starts by exploring 3D reconstruction algorithms, showing distinctions between local and global methods and presenting an increm |
| 520 | |
▼a It then introduces the concept of sensor fusion, where multiple sensors are joined to provide a higher degree of tracking accuracy. It compares different visual SLAM systems -- dense and semi-dense -- and shows how the inclusion of an Inertial M |
| 520 | |
▼a Finally, it explores different error metrics used in direct photometric optimization -- the foundation of dense tracking systems. It introduces the Normalized Information Distance (NID), an entropy based metric that is shown to achieve high loca |
| 590 | |
▼a School code: 0051. |
| 650 | 4 |
▼a Robotics. |
| 690 | |
▼a 0771 |
| 710 | 20 |
▼a University of Colorado at Boulder.
▼b Computer Science. |
| 773 | 0 |
▼t Dissertation Abstracts International
▼g 80-02B(E). |
| 773 | |
▼t Dissertation Abstract International |
| 790 | |
▼a 0051 |
| 791 | |
▼a Ph.D. |
| 792 | |
▼a 2018 |
| 793 | |
▼a English |
| 856 | 40 |
▼u http://www.riss.kr/pdu/ddodLink.do?id=T14999108
▼n KERIS |
| 980 | |
▼a 201812
▼f 2019 |
| 990 | |
▼a 관리자 |