Pose estimation using overhead imagery and semantics
This electronic version was submitted by the student author. The certified thesis is available in the Institute Archives and Special Collections.
| Main Author: | |
|---|---|
| Other Authors: | |
| Format: | Thesis |
| Language: | eng |
| Published: |
Massachusetts Institute of Technology
2019
|
| Subjects: | |
| Online Access: | https://hdl.handle.net/1721.1/121637 |
| _version_ | 1826189150521393152 |
|---|---|
| author | Rouben, Yousif Farid Dawood. |
| author2 | Nicholas Roy. |
| author_facet | Nicholas Roy. Rouben, Yousif Farid Dawood. |
| author_sort | Rouben, Yousif Farid Dawood. |
| collection | MIT |
| description | This electronic version was submitted by the student author. The certified thesis is available in the Institute Archives and Special Collections. |
| first_indexed | 2024-09-23T08:10:39Z |
| format | Thesis |
| id | mit-1721.1/121637 |
| institution | Massachusetts Institute of Technology |
| language | eng |
| last_indexed | 2024-09-23T08:10:39Z |
| publishDate | 2019 |
| publisher | Massachusetts Institute of Technology |
| record_format | dspace |
| spelling | mit-1721.1/1216372019-08-07T03:03:07Z Pose estimation using overhead imagery and semantics Rouben, Yousif Farid Dawood. Nicholas Roy. Massachusetts Institute of Technology. Department of Electrical Engineering and Computer Science. Massachusetts Institute of Technology. Department of Electrical Engineering and Computer Science Electrical Engineering and Computer Science. This electronic version was submitted by the student author. The certified thesis is available in the Institute Archives and Special Collections. Thesis: M. Eng., Massachusetts Institute of Technology, Department of Electrical Engineering and Computer Science, 2018 Cataloged from student-submitted PDF version of thesis. Includes bibliographical references (pages 87-96). As hardware improves, so does the ability to run more complex algorithms. Improvements in the portability and performance of computing units has allowed for more compact robotic systems such as Micro Aerial Vehicles (MAVs), while developments in camera technologies has allowed for the generation of denser robot perception, such as depth and semantics, derived from environmental cues such as colour, shape and texture. Additionally, with the advent of commercial civilian satellites and initiatives like the Google Maps project, most of the earth's outdoor urban environments have been captured through satellite imagery. These overhead images contain useful information that can aid with outdoor robot navigation and localisation, by, for example, being used as prior maps in a localisation pipeline. This thesis presents a method for generating semantically consistent robot localisation updates on-board a MAV. The key contribution is a process that fuses local ground and global satellite image information through geometric alignment at the semantic level. This method uses a semantically segmented collapsed point cloud from a camera system on-board a MAV, without any notion of mapping, referencing only a potentially stale global overhead image. A particle filter is used to enable multi-hypothesis data association and allow for efficient recovery from motion uncertainty. by Yousif Farid Dawood Rouben. M. Eng. M.Eng. Massachusetts Institute of Technology, Department of Electrical Engineering and Computer Science 2019-07-15T20:29:58Z 2019-07-15T20:29:58Z 2018 2018 Thesis https://hdl.handle.net/1721.1/121637 1098179735 eng MIT theses are protected by copyright. They may be viewed, downloaded, or printed from this source but further reproduction or distribution in any format is prohibited without written permission. http://dspace.mit.edu/handle/1721.1/7582 96 pages application/pdf Massachusetts Institute of Technology |
| spellingShingle | Electrical Engineering and Computer Science. Rouben, Yousif Farid Dawood. Pose estimation using overhead imagery and semantics |
| title | Pose estimation using overhead imagery and semantics |
| title_full | Pose estimation using overhead imagery and semantics |
| title_fullStr | Pose estimation using overhead imagery and semantics |
| title_full_unstemmed | Pose estimation using overhead imagery and semantics |
| title_short | Pose estimation using overhead imagery and semantics |
| title_sort | pose estimation using overhead imagery and semantics |
| topic | Electrical Engineering and Computer Science. |
| url | https://hdl.handle.net/1721.1/121637 |
| work_keys_str_mv | AT roubenyousiffariddawood poseestimationusingoverheadimageryandsemantics |