Robust techniques for monocular simultaneous localization and mapping / von MSc-EE. Mohammad Hossein Mirabdollah ; Referentin: Prof. Dr.-Ing. Bärbel Mertsching, Korreferent: Prof. Dr.-Ing. Reinhold Häb-Umbach. Paderborn, 2016
Inhalt
- Introduction
- Visual Feature Extraction and Tracking
- Visual Odometry
- Data Fusion
- Contributions of this Work
- Thesis Outline
- Related Literature
- Visual Odometry
- Feature Tracking
- Feature Tracking Using Feature Matching Techniques
- Feature Tracking Based on Lucas-Kanade Method
- Comparison of Methods
- Inconsistencies of N-point Methods for Camera Motion Estimation
- Modified N-Point Methods
- Considering Measurement Noise in the Estimation of E
- Including Regularization Term
- Modified Cheirality Test
- Simulation
- Experimental Results
- 2D Monocular SLAM
- A Particle Filter Based Method
- A Subspace Method with Minimal Number of Samples
- Intersection of Two Line Segments Under the Uncertainties of Parameters
- Posterior Distributions of f,t and 2 Given the Landmark Positions
- Optimal Trimming of Line Segments
- Resampling
- Complexity Analysis
- Simulation
- Experimental Results
- Conclusion and Outlook
- Bibliography
- List of Notations
- List of Abbreviations
- List of Tables
- List of Figures