Aulinas Masó, Josep M. (Date of defense: 2011-09-22)
Simultaneous Localization and Mapping (SLAM) do not result in consistent maps of large areas because of gradual increase of the uncertainty for long term missions. In addition, as the size of the map ...
Bacca Cortés, Eval Bladimir (Date of defense: 2012-06-20)
This work proposes an appearance-based SLAM method whose main contribution is the Feature Stability Histogram (FSH). The FSH is built using a voting schema, if the feature is re-observed, it will be ...
Lee, Chee Sing (Date of defense: 2015-09-01)
The majority of research in feature-based SLAM builds on the legacy of foundational work using the EKF, a single-object estimation technique. Because feature-based SLAM is an inherently multi-object ...