Chaurasia, Gaurav

Nous présentons une approche de rendu à base d'images qui permet, à partir de photos, de naviguer librement et générer des points de vue quelconques dans des scènes urbaines. Les approches précédentes se basent sur un modèle géométrique complet et précis de la scène. La qualité des résultats produits par ces méthodes se dégrade lorsque la géométrie est approximative. Dans cette thèse, nous proposons une approximation basée sur l'image pour compenser le manque de précision de la géométrie. Dans u...

Chaurasia, Gaurav

Nous présentons une approche de rendu à base d'images (IBR) qui permet, à partir de photos, de naviguer librement et générer des points de vue quelconques dans des scènes urbaines. Les approches précédentes dépendent des modèles 3D et donnent lieu à des rendus de qualité réduite avec beaucoup d'artefacts. Dans cette thèse, nous proposons une approximation basée sur l'image pour compenser le manque de précision de la géométrie 3D. Nous utilisons un warp d'image guidé par des cartes de profondeur ...

Finding ones way in unknown and unfamiliar environments is a common task. A number of tools ranging from paper maps to location-based services have been introduced to assist human navigation. Undoubtedly, car navigation systems can be considered the most successful example of location based services that widely gained user acceptance. However the concept of car navigation is not always (perhaps rarely) suitable for pedestrian navigation. Moreover, precise localization of moving objects indoors i...

Sonbas, Buket

A self-navigating, path following and obstacle avoiding mobile robot is difficult to realize especially when its sensors are strongly effected by noise. This MSc thesis is aimed at investigating a realistic scenario of an autonomous mobile robot simulated in the MatLab environment. The robot system is able to follow a given reference path by utilizing its onboard sensors and decision making capabilities to avoid collisions with arbitrarily placed obstacles along its path. A novel navigational al...

Chen, Yuefan

This thesis has been done in the field of robotics. The focus of this project is to design an autonomous vehicle following a desired path by a RTK (Real Time Kinematic) GPS, including designing prototype PCB(Printed Circuit Board) layout, finding sensors and components for the system, designing and simulating the control system and making software. The system is based on a robotic vehicle with three wheels where two of them are driving. An ARM CORTEX A9 based controller is running the system. In...

Burstyn, JESSE

Mobile devices are frequently used to view rich content while on the go. However, they have a tradeoff between increased screen size and portability; mobile devices, by definition, are constrained to a fraction of a desktop computer’s display area. This constraint means a user has to frequently navigate to content that lies outside the display. We present FlexView, a prototype system and set of interaction techniques, which allows users to navigate through depth-arranged large information space...

Iqbal, Umar

Global position system (GPS) is widely used in land vehicles but suffers deterioration in its accuracy in urban canyons; mostly due to satellite signal blockage and signal multipath. To obtain accurate, reliable, and continuous positioning solutions, GPS is usually augmented with inertial sensors, including accelerometers and gyroscopes to monitor both translational and rotational motions of a moving vehicle. Due to space and cost requirements, micro-electro-mechanical-system (MEMS) inertial sen...

Li, John

Arthroscopic knee surgery can be challenging because there is no intuitive relationship between the arthroscopic image, shown on a screen above the patient, and the camera in the surgeon's hand. As a result, arthroscopic surgeons require extensive training and experience. This thesis describes a computer system to help improve target acquisition in arthroscopy by visualizing the location and alignment of an arthroscope using augmented virtuality. A 3D computer model of the patient's joint (...

Abdelfatah, Walid Farid

Navigation algorithms integrating measurements from multi-sensor systems overcome the problems that arise from using GPS navigation systems in standalone mode. Algorithms which integrate the data from 2D low-cost reduced inertial sensor system, consisting of a gyroscope and an odometer, along with a GPS via a Kalman filter has proved to be worthy in providing a consistent and more reliable navigation solution compared to the standalone GPS. It has been also shown to be beneficial, especially in ...

Georgy, Jacques

Present land vehicle positioning and navigation relies mostly on the Global Positioning System (GPS). However, in urban canyons, tunnels, and other GPS-denied environments, the GPS positioning solution may be interrupted or suffer from deterioration in accuracy due to satellite signal blockage, poor satellite geometry or multipath effects. In order to achieve continuous positioning services, GPS is augmented with complementary systems capable of providing additional sources of positioning inform...

Ahmedov, Zafarbek

This study investigated the impacts of U.S. biofuel production and barge navigation impediments on agricultural transportation and markets. Both past and future impacts of U.S. biofuel production levels mandated by the Renewable Fuel Standards of the Energy Policy Act of 2005 (RFS1) and the Energy Independence and Security Act of 2007 (RFS2) were examined. Examination of barge navigations impediments included analysis of the impact of lock failure and low water levels on rivers due to drought, o...

Bäcklinder Werf, Karl, Gomez Arteaga, Jorge Antonio Anvar

This report describes a possible approach to using data fusion to combine vector and raster data to create a three dimensional interactive archipelago. The data is collected by two central governments and consists of real measurements. Vector data are originating from an ENC chart and information from Lantmäteriets web page Digitala Kartbiblioteket. Raster data exists that describes height and orto-photographies from Digitala Kartbiblioteket. OpenSceneGraph has been used to visualize the chart a...

Tong, Chi Hay

For robotic deployments in planetary worksite environments, map construction and navigation are essential for tasks such as base construction, scientific investigation, and in-situ resource utilization. However, operation in a planetary environment imposes sensing restrictions, as well as challenges due to the terrain. In this thesis, we develop enabling technologies for autonomous mapping and navigation by employing a panning laser rangefinder as our primary sensor on a rover platform. The map...

Singh, Punya

Everyday experience suggests that certain people can find their way to a destination easily, while others have considerable difficulty. This dissertation focused on gaining a greater understanding of navigational strategies that can facilitate or hinder an individual’s wayfinding performance. The first study was conducted to gain a broad idea of various factors that may influence navigational performance. Participants were guided through a building and then asked to find their way to a destinati...

Mirian HosseinAbadi, MahdiehSadat

No description available.

Polar Aliaga, Brenda

This qualitative study examined three areas of social service provision through the experiences of non-English speaking older Hispanic immigrants. These three areas included availability and accessibility of services and culturally competent practices of service providers. The qualitative approach of phenomenology was used to interview ten participants in order to explore their experiences with service provision. An analysis of the interviews pointed to the following themes: (a) experiences wi...

Zhao, Yueming

The Global Positioning System (GPS) and an Inertial Navigation System (INS)are two basic navigation systems. Due to their complementary characters in manyaspects, a GPS/INS integrated navigation system has been a hot research topic inthe recent decade. Both advantages and disadvantages of each individual systemare analyzed. The Micro Electrical Mechanical Sensors (MEMS) successfully solved theproblems of price, size and weight with the traditional INS. Therefore they arecommonly applied in GPS/I...

Perscheid, Michael

The correction of software failures tends to be very cost-intensive because their debugging is an often time-consuming development activity. During this activity, developers largely attempt to understand what causes failures: Starting with a test case that reproduces the observable failure they have to follow failure causes on the infection chain back to the root cause (defect). This idealized procedure requires deep knowledge of the system and its behavior because failures and defects can be fa...

Richer, Natalie

The ability to navigate with limited vision is a skill that is often employed in our daily lives. Navigating without vision to a remembered target has previously been studied. However, not much is known about the attention required to perform blind navigation. We examined the effect of aging and presence of obstacles on the attentional demands of blind navigation. We evaluated reaction time, navigation errors and average walking speed in an 8 meter walking path, with or without obstacles, in the...

Zhao, Yueming

Vehicle navigation systems incorporate on-board sensors/signal receivers and provide necessary positioning and guidance information for land, marine, airborne and space vehicles. Among different navigation solutions, the Global Positioning System (GPS) and an Inertial Navigation System (INS) are two basic navigation systems. Due to their complementary characters in many aspects, a GPS/INS integrated navigation system has been a hot research topic in recent decades. Both advantages and disadvanta...

Rutherford, Paul

Software to display and analyse DNA sequences is a crucial tool for bioinformatics research. The data of a DNA sequence has a relatively simple format but the length and sheer volume of data can create difficulties in navigation while maintaining overall context. This is one reason that current bioinformatics applications can be difficult to use. This research examines techniques for navigating through large single DNA sequences and their annotations. Navigation in DNA sequences is considered he...

Brezoescu, Cornel-Alexandru

Ce travail de thèse porte sur le comportement en vol de drones légers à voilure fixe en présence de vent. Ces dispositifs aériens offrent une transition en douceur de la théorie à la pratique dans le domaine de la commande autonome. En outre, ils fournissent une solution appropriée dans des environnements inaccessibles ou dangereux pour les êtres humains. Cependant, ne pas avoir un pilote humain à bord implique que les UAV reposent sur l'automatisation pour naviguer ou pour éviter les obstacles....

Durham, James Leighton

No description available.

Zinni, Jerome

Autonomous Underwater Vehicles (AUVs) require an accurate navigation system for operating in mine fields located in the near suff zone very shallow water. This research project examined the precision, performance characteristics, and reliability of a low cost, commercially produced, acoustical navigation system called 'DiveTracker'. The DiveTracker acoustical navigation system provides both an acoustical short baseline operator and the AUV with position data on a 1 hertz update rate. Experiments...

Costello, Patrick.

Proportional Navigation and Command To Line Of Sight missile guidance are explored. A system flow graph is developed for each guidance technique. The block transfer functions are developed and a state space representation of the system is defined. The missile systems are then tested using one two-dimensional engagement and two three-dimensional engagement scenarios. The final three- dimensional scenario introduces measurement noise in order to evaluate the effect of noise on the guidance algorit...

Haskell, Margaret F.

A least squares algorithm is developed to solve for the trajectory and transponder array coordinates of the current velocity profiler, Pegasus. Measurement residuals and parameter precision are computed for data quality analysis. Travel times from a maximum of four seafloor transponders, pressure sensor depths, and transponder positions are input with their respective accuracy estimates. The algorithm is used to analyze a 2250 m profile from the Monterey Canyon with four transponders, one of whi...

McKeon, James Bernard

No description available.

Gierløff, Haakon

With the introduction of the Oculus Rift in 2012, it was predicted to become the new technological device that would change future entertainment. Being affordable and developer friendly, many applications and games with Oculus Rift support have been created the last two years. Creative uses of the Oculus Rift’s technology have shown just the tip of the iceberg regarding its capabilities.As the Oculus Rift was mainly created for gaming, it excels when used in first-person view. This thesis ...

Ratshidaho, Thikhathali Terence.

For mobile robots to navigate autonomously, one of the most important and challenging task is localisation. Localisation refers to the process whereby a robot locates itself within a map of a known environment or with respect to a known starting point within an unknown environment. Localisation of a robot in unknown environment is done by tracking the trajectory of a robot whilst knowing the initial pose. Trajectory estimation becomes challenging if the robot is operating in an unknown environme...

Muhammad, Naveed

Afin de permettre une navigation autonome d'un robot dans un environnement, le robot doit être capable de percevoir son environnement. Dans la littérature, d'une manière générale, les robots perçoivent leur environnement en utilisant des capteurs de type sonars, cameras et lidar 2D. L'introduction de nouveaux capteurs, nommés lidar 3D, tels que le Velodyne HDL-64E S2, a permis aux robots d'acquérir plus rapidement des données 3D à partir de leur environnement. La première partie de cette thèse p...

Deambrogio, Lina <1979>

This thesis presents the outcomes of my Ph.D. course in telecommunications engineering. The focus of my research has been on Global Navigation Satellite Systems (GNSS) and in particular on the design of aiding schemes operating both at position and physical level and the evaluation of their feasibility and advantages. Assistance techniques at the position level are considered to enhance receiver availability in challenging scenarios where satellite visibility is limited. Novel positioning tech...

Wåga, Torgeir

How does the grid scale support accurate spatial memory and navigation? This critical piece of the puzzle is currently missing from experimental work on grid cells. Previous research has demonstrated that the medial entorhinal cortex (MEC) is required for accurate spatial memory and navigation. But few studies have examined the importance of grid scale in these same processes. Here, we examine how the topographical organization of grid scale contributes to spatial memory and navigation by using ...

Gabelli, Giulio <1984>

This thesis collects the outcomes of a Ph.D. course in Telecommunications engineering and it is focused on enabling techniques for Spread Spectrum (SS) navigation and communication satellite systems. It provides innovations for both interference management and code synchronization techniques. These two aspects are critical for modern navigation and communication systems and constitute the common denominator of the work. The thesis is organized in two parts: the former deals with interference man...

Marquis, Carl W., III

Approved for public release; distribution is unlimited. / Precise navigation with high update rates is essential for automatic landing of an unmanned aircraft. Individual sensors currently available - INS, AHRS, GPS, LORAN, etc. - cannot meet both requirements. The most accurate navigation sensor available today is the Global Positioning System or GPS. However, GPS updates only come once per second. INS, being an on-board sensor, is available as often as necessary. Unfortunately, it is subject t...

Michelson, David George

Recent developments in radar navigation and remote sensing have led to a requirement for rugged yet inexpensive location markers and calibration targets which present both a very large scattering cross section and a specified polarization response over a wide angular range. This study considers several problems related to the analysis and design of passive radar targets derived from corner reflectors. Transformation of the polarization response of a target between global and local coordinat...

Viriyakattiyaporn, Petcharat

Software development environments have evolved to make it easy for third parties to integrate a variety of tools into the environment. Previous research has shown that developers often do not use or know all of the tools available in development environments that they regularly use. The most common solution to alleviate this problem is to provide a means to search through passive help documents. However, this approach requires a developer to be able to express her desires in a form understood ...

Chapman, Christopher Stephen

In this dissertation, I articulate what I call a personal-is-political ethics, suggesting that the realm of human affairs long called ethics is inseparable from that which is today normatively called psychology. Further, I suggest that these names for this shared realm are situated in different discursive traditions which, therefore, provide different parameters for possible action and understanding. In my exploration of what it is to be human, I strategically centre ethical transgressions, pa...

Valdmanis, Mikelis

Two approaches to navigation and localization of a holonomic, unmanned, indoor airship capable of 6-degree-of-freedom (DOF) motion using on-board sensors are presented. First, obstacle avoidance and primitive navigation were attempted using a light-weight video camera. Two optical flow algorithms were investigated. Optical flow estimates the motion of the environment relative to the camera by computing temporal and spatial fluctuations of image brightness. Inferences on the nature of the visible...

Wilson, George. H.

Note: Missing Pages 252, 272, and 279. / It is scarcely necessary to stress the prime importance to Canadian history of the existence of the St. Lawrence River and its tributaries, providing lines of communication for the development of trade and settlement. From the earliest days of French exploration in North America, men have been excited by the prospect of the vast waterway stretching from the Gulf far into the interior of the continent. Even the ‘Lakehead’ , the westernmost extremity of Lak...

Paul, André.

An autonomous navigational system for a mobile robot was developed based on a Laser-Range-Finder-based path planning and navigational algorithms. The system was enhanced by incorporating collision avoidance algorithms using data from a sonar sensor array, and further improved by establishing two virtual regions in front of the robot for obstacle detection and avoidance. Several virtual detector bands with varying dimensions were also added to the sides of the robot to check for rotational cleara...

Vidoni, Tullio

Roberto da Sanseverino went on a pilgrimage to the Holy Land in 1458. He travelled from Venice to Jaffa on a galley and made his return, from Acre to Ancona, on a three-masted sailing ship. During both voyages he kept very accurate logs of distances, courses and wind directions. He described the sails employed for different modes of sailing and other activities pertaining to the safe operation of the vessels. These logs are contained in Sanseverino's diary of his pilgrimage and are an essential ...

Perea Virgili, Laura

Formation flying offers space-dependent disciplines such as astrophysics, astrodynamics, and geodesy, to name a few, the possibility of creating large spaceborne sensors from an array of small spacecraft flying in formation. This creates exciting scientific and technical opportunities as the formation could be arranged to work as, for example, an interferometer, thus providing a most unlimited angular resolution or a virtual telescope, thus unrestricted focal distances. Since the first mission i...

Abdullah, Muhammad

A team of mobile robots moving in a shared area raises the problem of safe and autonomous navigation. While avoiding static and dynamic obstacles, mobile robots in a team can lead to complicated and irregular movements. Local reactive approaches are used to deal with situations where robots are moving in dynamic environment; these approaches help in safe navigation of robots but do not give optimal solution. In this work a 2-D navigation strategy is implemented, where a potential field method is...

Panahandeh, Ghazaleh, Mohammadiha, Nasser, Jansson, Magnus

In this paper, a method for determining ground plane features in a sequence of images captured by a mobile camera is presented. The hardware of the mobile system consists of a monocular camera that is mounted on an inertial measurement unit (IMU). An image processing procedure is proposed, first to extract image features and match them across consecutive image frames, and second to detect the ground plane features using a two-step algorithm. In the first step, the planar homography of the ground...

Yussof, Hanafiah, Yamano, Mitsuhiro, Ohka, Masahiro, Nasu, Yasuo

No description available.

Lilja, Robin

Autonomous vehicles are an emerging trend in robotics, seen in a vast range of applications and environments. Consequently, Volvo Construction Equipment endeavour to apply the concept of autonomous vehicles onto one of their main products. In the company’s Autonomous Machine project an autonomous wheel loader is being developed. As an ob jective given by the company; a demonstration proving the possibility of conducting a fully autonomous load and haul cycle should be performed. Conducting such ...

Emilsson, André

Indoor navigation could be used in many applications to enhance performance in its specific area. Anything from serious life critical tasks like aiding firefighters or coordinating military attacks to more simple every day use like finding a desired shop in a large supermarket could be considered. Smartphones of today introduce an interesting platform with capabilities like existing, more clumsy, indoor navigation systems. The iPhone 3GS is a powerful smartphone that lets the programmer use its ...

Odom, Craig Allen

The need addressed in this thesis is to provide an Autonomous Ground Vehicle (AGV) with accurate information regarding its position, velocity, and orientation. The system chosen to meet these needs incorporates (1) a differential Global Positioning System, (2) an Inertial Measurement Unit consisting of accelerometers and angular-rate sensors, and (3) a Kalman Filter (KF) to fuse the sensor data. The obstacle avoidance software requires position and orientation to build a global map of obstacles ...

Sorensen, David Kristin

Open-loop position estimation methods are commonly used in mobile robot applications. Their strength lies in the speed and simplicity with which an estimated position is determined. However, these methods can lead to inaccurate or unreliable estimates. Two methods are developed in this thesis. The first uses a single optical sensor and can accurately estimate position under ideal conditions and when wheel slip perpendicular to the axis of the wheel occurs. A second method which uses two optical ...

Bayrak, Ali Galip

Navigation of a group of autonomous agents that are needed to maintain a formation is a challenging task which has not been studied much in especially 3-D terrains. This thesis presents a novel approach to collision free path finding of multiple agents preserving a predefined formation in a 3-D terrain. The proposed method could be used in many areas like navigation of semi-automated forces (SAF) at unit level in military simulations and non player characters (NPC) in computer games. The propose...