Localization and Mapping from Shore Contours and Depth

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dc.contributor.advisorJenkin, Michael R.
dc.creatorCodd-Downey, Robert Frank
dc.date.accessioned2017-07-27T13:39:11Z
dc.date.available2017-07-27T13:39:11Z
dc.date.copyright2017-01-20
dc.date.issued2017-07-27
dc.date.updated2017-07-27T13:39:11Z
dc.degree.disciplineComputer Science
dc.degree.levelMaster's
dc.degree.nameMSc - Master of Science
dc.description.abstractThis work examines the problem of solving SLAM in aquatic environments using an unmanned surface vessel under conditions that restrict global knowledge of the robot's pose. These conditions refer specifically to the absence of a global positioning system to estimate position, a poor vehicle motion model, and absence of magnetic field to estimate absolute heading. These conditions are present in terrestrial environments where GPS satellite reception is occluded by surrounding structures and magnetic inference affects compass measurements. Similar conditions are anticipated in extra-terrestrial environments such as on Titan which lacks the infrastructure necessary for traditional positioning sensors and the unstable magnetic core renders compasses useless. This work develops a solution to the SLAM problem that utilizes shore features coupled with information about the depth of the water column. The approach is validated experimentally using an autonomous surface vehicle utilizing omnidirectional video and SONAR, results are compared to GPS ground truth.
dc.identifier.urihttp://hdl.handle.net/10315/33539
dc.language.isoen
dc.rightsAuthor owns copyright, except where explicitly noted. Please contact the author directly with licensing requests.
dc.subjectComputer engineering
dc.subject.keywordsMapping
dc.subject.keywordsLocalization
dc.subject.keywordsRobotics
dc.subject.keywordsSLAM
dc.subject.keywordsMarine
dc.titleLocalization and Mapping from Shore Contours and Depth
dc.typeElectronic Thesis or Dissertation

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