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Nitijevskis, Arsenijs (author)The railway industry is constantly growing to meet the demand of society for stable, accessible and sustainable transportation. With this growth, the need for the railway to be reliable increases, requiring frequent surveying and maintenance. Fugro's RILA (Rail Infrastructure aLignment Acquisition) mobile mapping system contributes by making the...master thesis 2024
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Bekkers, Sam (author)The generation of a 3D map of an unseen environment, obtained through solving the SLAM problem, is a popular topic currently in the robotics domain. The Lunar Rover Mini (LRM) at the German Aerospace Center solves this problem using a RGB-D camera system, which is favourable in space applications due to its lightweight characteristics and energy...master thesis 2024
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Kemmeren, Anne (author)This thesis proposes a novel algorithm, Wi-Closure, to improve computational efficiency and robustness of map matching in multi-robot SLAM. Current state-of-the-art techniques connect maps with inter-robot loop closures, that are usually found through place recognition. Wi-Closure decreases the computational overhead of these approaches by...master thesis 2022
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Coroz, Meltem (author)A robotic vehicle must continuously determine its position within the map to traverse a path safely; this is called self-localization. Current localization methods use mainly sensors like LIDARS. However, a LIDAR does not return data points if the environment is an empty field; the laser scan of the LIDAR does not reflect without obstacles,...master thesis 2022
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Looman, Danny (author)Underwater position estimation is challenging due to the absence of Global Navigation Satellite System (GNSS) signals. Underwater vehicles are typically equipped with a Doppler Velocity Log (DVL) that measures the velocity relative to the seafloor. Aside from the velocity, the DVL also measures the range of each of the four beams. When compared...master thesis 2022
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Vonk, Arjan (author)Mapping an environment with a Light Detection and Ranging (LiDAR) sensor through the use of a LiDAR Simultaneous Localization And Mapping (SLAM) algorithm is a powerful technology that allows for the creation of detailed 3D models. Recently various LiDAR sensors have been developed based on Micro-Electro-Mechanical System (MEMS) technology....master thesis 2022
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van Bavel, Henri (author)In order to improve the autonomy of construction robots, a Simultaneous Localization and Mapping (SLAM) solution is needed that localizes the robot using solely on-board sensing with sub-5 mm accuracy. As pointed out by the results of the Hilti SLAM Challenge, the state-of-the-art in SLAM currently does not offer a solution that comes close to...master thesis 2022
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Salzmann, Elke (author)Autonomous robots are increasingly used in more and more applications, such as warehouse robots, search-and-rescue robots and autonomous vacuum cleaners. These applications are often in environments where the GPS signals are denied or inaccurate, which makes it difficult to localize the robot in an unknown environment. To overcome this problem...master thesis 2021
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Klein Onstenk, Eduard (author)This paper discusses possible ways to generate synthetic data and its use cases for damage assessment in aircraft turbines. Synthetic data has many advantages such as exact ground truth and scalable data sets. Using SLAM and SfM, which are 3D construction tools, 3D models can be constructed from 2D monocular borescope videos. A 3D reconstruction...bachelor thesis 2021
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Bosland, Liam (author)A common problem in robotics is the simultaneous localization and mapping (SLAM) problem. Here, a robot needs to create a map of its surroundings while simultaneously localizing itself in this map. An unknown environment is assumed. Traditionally, it has been approached through filtering solutions. This paradigm has shifted to pose graph...master thesis 2021
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van Gaalen, Robin (author)The overall purpose of this study is to establish novel methods of vehicle localization and mapping using a 1D linear automotive radar array in conjuncture with pre-existing lidar maps, and to test if the generated radar map can be made to be 3 dimensional. The reason for creating a novel localization method was to try and alleviate some of the...master thesis 2020
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Witte, Tijmen (author)Multi-Agent Systems (MAS) can be used in the exploration and mapping of unknown environments. To cooperate autonomously, each agent of the MAS must know its own location precisely within such an environment. Simultaneous Localization and Mapping (SLAM) techniques are commonly used when the Global Positioning System (GPS) is unavailable or does...master thesis 2019
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van Schouwenburg, Sietse (author)Simultaneous Localization And Mapping (SLAM) algorithms provide accurate localization for autonomous vehicles and provide essential information for the path planning module. However, SLAM algorithms as- sume a static environment in order to estimate a location. This assumption influences the pose estimation in dynamic urban environments. The...master thesis 2019
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Jonk, Jasper (author), Minderman, Björn (author)Though several sensors are available for underwater scanning and ranging, they all have their limits. SONAR sensors are limited in resolution, and scanning mechanisms using a form of light for carrying the data suffer from high attenuation in turbid waters. <br/> <br/>The goal of this project was to design a LiDAR system that is capable of...bachelor thesis 2019
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Verstrate, Dave (author)The startup company Fleet Cleaner has developed a mobile robot, specialized in the hull cleaning of large cargo vessels. Navigation and localization of this robot is currently performed manually. This is a difficult process that is greatly complicated during operation. This is mainly due to the availability of relative positioning sensors only,...master thesis 2018
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Giannopoulos, Makis (author)Mobile robots need to be fully autonomous in order to perform their tasks inside their environment. To do that, robots need to have an understanding of their environment, so that they can successfully localize and navigate themselves within it. The understanding of the robots' environment is created by solving the SLAM (Simultaneous Localization...master thesis 2017
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Horstink, Thomas (author)A fundamental prerequisite for many robot-tasks is the availability of an environment model. The ability of a robot to create such a model itself is crucial to having truly autonomous robots around in our daily lives. For basic robot-tasks, a two-dimensional grid-map that describes a distinction between inhabitable and uninhabitable space is a...master thesis 2017
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Roozendaal, R. (author)Mobile robots need to interact with their environment to perform their tasks. To be successful they often need to know what their surrounding looks like, and where they are located in that surrounding. The act of simultaneously estimating both the state of the robot and the state of the environment is called Simultaneous Localization And Mapping...master thesis 2016
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Kandasamy, S. (author)The Simultaneous Localization and Mapping (SLAM) problem for mobile robots aims at consistently building a map of an unknown environment while simultaneously determining its position within this map. From a control-theoretic viewpoint, it is somehow analogous to simultaneously estimating the states and output map of the system. In the robotics...master thesis 2015
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Lekkerkerker, C.J. (author)The emerging of mobile robots in everyday life scenarios, such as in the case of domestic care robots, is highly anticipated. Much research has been carried out to make robots more capable of performing tasks in our everyday environments. Despite major progress over the last decades, many hurdles are still to be taken. In the field of robotic...master thesis 2014