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Title:Visual-inertial curve SLAM
Author(s):Meier, Kevin C.
Director of Research:Hutchinson, Seth A.; Chung, Soon-Jo
Doctoral Committee Chair(s):Hutchinson, Seth A.
Doctoral Committee Member(s):Schwing, Alexander G.; Do, Minh N.
Department / Program:Electrical & Computer Eng
Discipline:Electrical & Computer Engr
Degree Granting Institution:University of Illinois at Urbana-Champaign
Degree:Ph.D.
Genre:Dissertation
Subject(s):Visual-inertial SLAM
River detection
Abstract:In this dissertation, we present a simultaneous localization and mapping (SLAM) algorithm that uses B\'{e}zier curves as static landmark primitives rather than feature points. Our approach allows us to estimate the full 6-DOF pose of a robot while providing a sparse structured map which can be used to assist a robot in motion planning and control. We demonstrate how to reconstruct the 3-D location of curve landmarks from a stereo pair and how to compare the 3-D shape of curve landmarks between chronologically sequential stereo frames to solve the data association problem. We also present a method to combine curve landmarks for mapping purposes, resulting in a map with a continuous set of curves that contain fewer landmark states than conventional point-based SLAM algorithms. We demonstrate our algorithm's effectiveness with numerous experiments, including comparisons to existing state-of-the-art SLAM algorithms. A notable contribution of this dissertation is to apply our SLAM algorithm to a river setting to localize a canoe and create a sparse structured map of the border of a river. To accomplish this task, the dissertation presents a novel vision-based algorithm that identifies the boundary separating water from land in a river environment containing specular reflections. Our approach relies on the law of reflection. Assuming the surface of water behaves like a horizontal mirror, the border separating land from water corresponds to the border separating 3-D data which are either above or below the surface of water. We detect a river by identifying this border in a stereo camera. We start by demonstrating how to robustly estimate the normal and height of the water's surface with respect to a stereo camera. Then, we segment water from land by identifying the boundary separating dense 3-D stereo data which are either above or below the water's surface. With the border of water identified, we validate the proposed river boundary detection algorithm by applying it to a chronologically sequential video sequence obtained from the visual-inertial canoe dataset. Additionally, we use our SLAM algorithm to create a sparse structured map of the shoreline of a river.
Issue Date:2018-02-28
Type:Thesis
URI:http://hdl.handle.net/2142/100901
Rights Information:Copyright 2018 Kevin C. Meier
Date Available in IDEALS:2018-09-04
Date Deposited:2018-05


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