Work

Bridging the divide between Visual Place Recognition and SLAM

Year: 2023

Type: dissertation

Abstract: This thesis explores using filtering and optimisation methods from the simultaneous localisation and mapping literature to solve the visual place recognition problem. The proposed methods address the problems of uncertainty quantification during localisation, topological map building and learning image representations for sequence alignment. The research contributions from this thesis advance visual place recognition techniques using image sequences and can be applicable for autonomous vehicles and mobile robots operating in changing environments.

Source: Queensland University of Technology

DOI: 10.5204/thesis.eprints.240786

Author: Mingda Xu

Language: English

Topic: Robotics and Sensor-Based Localization

Subfield: Aerospace Engineering

Field: Engineering

Domain: Physical Sciences

Open Access status: green

Funders: Australian Government, Australian Centre for Robotic Vision, Multidisciplinary University Research Initiative, Australian Research Council, Office of Naval Research

Awards: G1010395839, G1972146307, G2140357557, G2154455053, G252308265, G2680810362, G3024551116, ARC Centre of Excellence for Robotic Vision, G5765307518, G8295023963, G8876996369

OpenAlex ID: W4382072292

Cites: 203

Cited by: 1

Related to: 10