Thesis
Vision-centric state estimation and mapping for visually challenging scenarios
- Abstract:
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Reliable 3D scene understanding is essential for enabling autonomous robot operation in complex environments. This thesis addresses the challenges of vision-based state estimation and mapping in challenging scenarios, where conventional methods often struggle due to motion blur, low light, or high dynamic motion. The overarching goal is to develop vision-centric systems that enhance state estimation and scene interpretation by leveraging both novel sensing technologies and robust multi-sessio...
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- Files:
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(Preview, Dissemination version, pdf, 70.3MB, Terms of use)
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Authors
Contributors
+ Fallon, M
- Institution:
- University of Oxford
- Division:
- MPLS
- Department:
- Engineering Science
- Role:
- Supervisor
- ORCID:
- 0000-0003-2940-0879
+ Gammell, J
- Institution:
- University of Oxford
- Division:
- MPLS
- Department:
- Engineering Science
- Role:
- Supervisor
- DOI:
- Type of award:
- DPhil
- Level of award:
- Doctoral
- Awarding institution:
- University of Oxford
- Language:
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English
- Keywords:
- Subjects:
- Deposit date:
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2025-11-02
- ARK identifier:
Terms of use
- Copyright holder:
- Jianeng Wang
- Copyright date:
- 2025
- Licence:
- CC Attribution (CC BY)
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