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dc.contributor.advisorHoff, William A.
dc.contributor.authorMasoud, Abdelsalam
dc.date.accessioned2007-01-03T06:53:12Z
dc.date.accessioned2022-02-03T12:52:07Z
dc.date.available2007-01-03T06:53:12Z
dc.date.available2022-02-03T12:52:07Z
dc.date.issued2015
dc.identifierT 7731
dc.identifier.urihttps://hdl.handle.net/11124/17087
dc.descriptionIncludes illustrations (some color).
dc.descriptionIncludes bibliographical references (pages 91-95).
dc.description.abstractIn this thesis we address the problem of visual simultaneous localization and mapping (VSLAM) using a single camera as the sole sensor. A VSLAM system estimates its position and orientation (pose) by tracking distinct landmarks in the environment using its camera. Most approaches detect feature points in the environment, using an interest point operator that looks for small textured image templates. Existing algorithms typically assume that an image template is the projection of a single planar surface patch. However, if the template is actually the projection of a nonplanar surface, tracking will eventually fail. We present an algorithm that estimates the 3D structure of a nonplanar template as it is tracked through a sequence of images. Our approach is to model the template as "partially planar", meaning that we assume that the image patch is the projection of a planar surface, but some of the points in the template may not belong to that surface. We automatically identify the points belonging to the "dominant" plane of the patch, and estimate the parameters of that plane. Using this information, the algorithm can more accurately predict the appearance of the template, and as a result, is better able to track the template. We evaluate the benefit of using the new feature tracking method in VSLAM, and demonstrate that the new algorithm can track points longer, and achieve better accuracy, than if the standard singleplane feature tracking method is used. The approach is especially eeffective in scenes where surface discontinuities are common.
dc.format.mediumborn digital
dc.format.mediumdoctoral dissertations
dc.languageEnglish
dc.language.isoeng
dc.publisherColorado School of Mines. Arthur Lakes Library
dc.relation.ispartof2015 - Mines Theses & Dissertations
dc.rightsCopyright of the original work is retained by the author.
dc.subjectstructure from motion
dc.subjectvisual SLAM
dc.subjecttracking
dc.subject.lcshTemplate matching (Digital image processing)
dc.subject.lcshImage segmentation
dc.subject.lcshImage registration
dc.subject.lcshAlgorithms
dc.subject.lcshMobile robots
dc.titleSegmentation and tracking of non-planar templates to improve VSLAM
dc.typeText
dc.contributor.committeememberSteele, John P. H.
dc.contributor.committeememberVincent, Tyrone
dc.contributor.committeememberSzymczak, Andrzej
dc.contributor.committeememberHaddon, John
thesis.degree.nameDoctor of Philosophy (Ph.D.)
thesis.degree.levelDoctoral
thesis.degree.disciplineElectrical Engineering and Computer Science
thesis.degree.grantorColorado School of Mines


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