Visual-LiDAR Simultaneous Localization and Mapping

Simple item page
dc.contributor.advisorSohn, Gunho
dc.contributor.authorAhmadi, SeyedMostafa
dc.date.accessioned2023-12-08T14:49:08Z
dc.date.available2023-12-08T14:49:08Z
dc.date.issued2023-12-08
dc.date.updated2023-12-08T14:49:07Z
dc.degree.disciplineEarth & Space Science
dc.degree.levelMaster's
dc.degree.nameMSc - Master of Science
dc.description.abstractSimultaneous Localization And Mapping (SLAM) has garnered significant attention in robotics research over the years. While SLAM has demonstrated success, its application in mobile mapping systems (MMS) presents unique challenges. This study builds upon prior research (RPV-SLAM), extending its framework to enhance accuracy and perform boundary tests on a specific MMS, Maverick MMS. Our contribution introduces a novel SLAM approach termed HDPV-SLAM, addressing critical limitations encountered by the existing system. The first challenge addressed is the sparsity of LiDAR depth data, complicating its correlation with extracted visual features from RGB images. The second challenge stems from the lack of horizontal overlap between the panoramic camera and the tilted LiDAR sensor, causing difficulties in depth association. Furthermore, a comprehensive dataset named YUTO MMS is presented to the public. This dataset spans 18.95 km and was collected from diverse environments, including York University's Keel campus and Teledyne Optech headquarters building.
dc.identifier.urihttps://hdl.handle.net/10315/41778
dc.languageen
dc.rightsAuthor owns copyright, except where explicitly noted. Please contact the author directly with licensing requests.
dc.subjectComputer science
dc.subjectArtificial intelligence
dc.subject.keywordsComputer vision
dc.subject.keywordsSLAM
dc.titleVisual-LiDAR Simultaneous Localization and Mapping
dc.typeElectronic Thesis or Dissertation

Files

Original bundle
Now showing 1 - 1 of 1
Thumbnail Image
Name:
Ahmadi_Seyedmostafa_2023_Masters.pdf
Size:
5.32 MB
Format:
Adobe Portable Document Format
Download
License bundle
Now showing 1 - 2 of 2
No Thumbnail Available
Name:
license.txt
Size:
1.87 KB
Format:
Plain Text
Description:
Download
No Thumbnail Available
Name:
YorkU_ETDlicense.txt
Size:
3.39 KB
Format:
Plain Text
Description:
Download

Collections

Earth & Space Science

All items in the YorkSpace institutional repository are protected by copyright, with all rights reserved except where explicitly noted.