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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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Veen, Thijs (author)Indoor localisation is a growing field of interest in recent studies. While GPS (global positioning system) is a standard for outdoor localisation, no such solution exists for indoor applications. The literature provides several methods to obtain the location of indoor systems, often using optical sensors. A small number of recent studies use...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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Petrov, N. (author), Yarovoy, Alexander (author)This paper presents a new method of automotive MIMO radar self-calibration which uses targets of opportunity embedded in road infrastructure, such as road signs and traffic lights. While conventional offline calibration of a phased array antenna requires accurate knowledge of the positions of calibration targets relative to the radar, such...conference paper 2022
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Xin, Jianjian (author), Shi, Fulong (author), Fan, Shi (author), Jin, Qiu (author), Chang, X. (author)The water impact of one and twin free-falling wedges is numerically investigated by a Cartesian grid multiphase flow model. The effects of the drop velocity and the gap distance on the hydrodynamic behaviors are parametrically investigated. The numerical model involves a radial basis function ghost cell method (RBFGCM) for treating moving...journal article 2022
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Kok, M. (author), Viset, F.M. (author), Osman, M.E.A. (author)In this work, our focus is on indoor localization using the indoor magnetic field as a source of position information. This relies on the fact that ferromagnetic materials inside buildings cause the magnetic field to vary spatially. We jointly estimate the pose of a combined sensor module (containing a magnetometer) as well as the magnetic field...conference paper 2022
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Osman, M.E.A. (author), Viset, F.M. (author), Kok, M. (author)In this paper, a simultaneous localization and mapping algorithm for tracking the motion of a pedestrian with a foot-mounted inertial measurement unit is proposed. The algorithm uses two maps, namely, a motion map and a magnetic field map. The motion map captures typical motion patterns of pedestrians in buildings that are constrained by e.g....conference paper 2022
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Radhakrishnan, Prakash (author)Simultaneous Localisation and Mapping (SLAM) provide a novel solution for the robots to localise and navigate an unknown environment. Initial SLAM research focused mainly on the indoor environment, assuming the background to be primarily static. In contrast, the real world has dynamic interactions that restrict the implementation of SLAM to...master thesis 2021
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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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Markhorst, Thomas (author)Proper maintenance and inspection of aircraft and their engines is important for society. These engine inspections are performed using borescopes of which the footage is manually analysed. Having the opportunity to reconstruct a 3D model of the rotors would ease the inspection and introduce the possibility to automate the process. Monocular SLAM...bachelor 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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Bockstael, Marnix (author)Marine structures can sustain damage due to violent wave impacts that are characterized by complex dynamics involving both water and air. Methods that predict impacts loads for structural design often assume the water as incompressible. These predictions can be inaccurate during impacts where air is entrained in water, as that greatly increases...master 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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Tomia, Mihnea Alexandru (author), Zaffar, M. (author), Milford, Michael J. (author), McDonald-Maier, Klaus D. (author), Ehsan, Shoaib (author)Visual Place Recognition (VPR) is the ability to correctly recall a previously visited place under changing viewpoints and appearances. A large number of handcrafted and deep-learning-based VPR techniques exist, where the former suffer from appearance changes and the latter have significant computational needs. In this paper, we present a new...journal article 2021
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Petrov, N. (author), Krasnov, O.A. (author), Yarovoy, Alexander (author)This paper presents an analysis of a new method of automotive radar self-calibration which uses targets of opportunity. While conventional offline calibration of a phased array antenna requires accurate knowledge of the positions of calibration targets relative to the radar, such information is not available in a dynamic scenario. To...journal article 2021
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Zaffar, M. (author), Garg, Sourav (author), Milford, Michael (author), Kooij, J.F.P. (author), Flynn, David (author), McDonald-Maier, Klaus (author), Ehsan, Shoaib (author)Visual place recognition (VPR) is the process of recognising a previously visited place using visual information, often under varying appearance conditions and viewpoint changes and with computational constraints. VPR is related to the concepts of localisation, loop closure, image retrieval and is a critical component of many autonomous...journal article 2021
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Cao Chiew, Daniel (author)The present research performed a design exploration of fast ferry catamarans with hard chined demihulls sailing in irregular head waves, to analyse the influence of the demihull shape (without appendages) on wet deck slamming, and identify the geometrical properties and their trends to reduce it. Wet deck slamming is a phenomenon known to cause...master thesis 2020