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Gallo, Melissa A. "Vascular Access: A Navigation Map." Mount St. Joseph University Dept. of Nursing / OhioLINK, 2021. http://rave.ohiolink.edu/etdc/view?acc_num=msjdn1619264506925441.
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TRINDADE, DANIEL RIBEIRO. "3D NAVIGATION TECHNIQUES USING THE CUBE MAP." PONTIFÍCIA UNIVERSIDADE CATÓLICA DO RIO DE JANEIRO, 2010. http://www.maxwell.vrac.puc-rio.br/Busca_etds.php?strSecao=resultado&nrSeq=16322@1.
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COORDENAÇÃO DE APERFEIÇOAMENTO DO PESSOAL DE ENSINO SUPERIORA utilização de visualizadores 3D é algo cada vez mais comum em diversos ramos de atividades. O surgimento de novas tecnologias, com o resultante aumento do poder de processamento dos computadores atuais, tornou possível a criação de ambientes virtuais 3D maiores e mais ricos em detalhes. No entanto, a navegação em ambientes 3D, especialmente os ambientes multiescala, ainda é um problema para muitos usuários. O objetivo deste trabalho é propor soluções para alguns problemas de navegação 3D, a fim de melhorar a experiência de uso nesse tipo de aplicação. Nesse sentido, são apresentadas técnicas que permitem ajustar automaticamente a velocidade de navegação, os planos de corte e o ponto de centro de rotação. É proposta também uma solução para a detecção e tratamento de colisão entre a câmera e os modelos da cena, além de uma técnica que visa impedir que os usuários fiquem perdidos quando nenhum objeto da cena é visualizado. Essas soluções são baseadas na construção e manutenção de uma estrutura chamada de cubo de distâncias (cube map, no original em inglês), que fornece informações sobre a localização espacial dos pontos da cena em relação à câmera. Atualmente em desenvolvimento no Tecgraf/PUC-Rio, o SiVIEP (Sistema de Visualização Integrado de Exploração e Produção) é um visualizador voltado para profissionais da área de exploração e produção de petróleo, que serviu para a detecção e entendimento dos problemas mencionados e para a validação das soluções implementadas.
The use of 3D viewers is becoming common in several activities. The appearance of new technologies, with the resulting increase in processing power, made possible the creation of larger and richer 3D virtual environments. However, the navigation in 3D environments, especially the multiscale ones, is still a problem for many users. The goal of this work is to propose solutions to some 3D navigation problems in order to improve the user experience with this kind of application. In this sense, techniques to automatically adjust the navigation speed, the clipping planes and the rotation center are presented. It is also proposed a solution for the detection and treatment of collision between the camera and the scene, and a technique that aims to prevent users from getting lost when no scene object is visualized. These solutions are based on the construction and maintenance of a structure called cube map, which provides information about the spatial location of the scene points relative to the camera. Currently in development at Tecgraf/PUCRio, the SiVIEP (Integrated Visualization System for Exploration and Production) is a viewer aimed at professionals in the area of oil exploration and production that was used to detect and understand the mentioned problems, and also for validating the implemented solutions.
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Ezequiel, Carlos Favis. "Real-Time Map Manipulation for Mobile Robot Navigation." Scholar Commons, 2013. http://scholarcommons.usf.edu/etd/4481.
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Mobile robots are gaining increased autonomy due to advances in sensor and computing technology. In their current form however, robots still lack algorithms for rapid perception of objects in a cluttered environment and can benefit from the assistance of a human operator. Further, fully autonomous systems will continue to be computationally expensive and costly for quite some time. Humans can visually assess objects and determine whether a certain path is traversable, but need not be involved in the low-level steering around any detected obstacles as is necessary in remote-controlled systems. If only used for rapid perception tasks, the operator could potentially assist several mobile robots performing various tasks such as exploration, surveillance, industrial work and search and rescue operations. There is a need to develop better human-robot interaction paradigms that would allow the human operator to effectively control and manage one or more mobile robots.
This paper proposes a method of enhancing user effectiveness in controlling multiple mobile robots through real-time map manipulation. An interface is created that would allow a human operator to add virtual obstacles to the map that represents areas that the robot should avoid. A video camera is connected to the robot that would allow a human user to view the robot's environment. The combination of real-time map editing and live video streaming enables the robot to take advantage of human vision, which is still more effective at general object identification than current computer vision technology. Experimental results show that the robot is able to plan a faster path around an obstacle when the user marks the obstacle on the map, as opposed to allowing the robot to navigate on its own around an unmapped obstacle. Tests conducted on multiple users suggest that the accuracy in placing obstacles on the map decreases with increasing distance of the viewing apparatus from the obstacle. Despite this, the user can take advantage of landmarks found in the video and in the map in order to determine an obstacle's position on the map.
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Jones, Eagle Sunrise. "Large scale visual navigation and community map building." Diss., Restricted to subscribing institutions, 2009. http://proquest.umi.com/pqdweb?did=1905636871&sid=1&Fmt=2&clientId=1564&RQT=309&VName=PQD.
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Seager, Will. "The usability of map-based applications for pedestrian navigation." Thesis, University of Nottingham, 2007. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.518833.
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Winter, Marylin. "Artificial neural networks and map-matching for GPS navigation." Thesis, University of South Wales, 2006. https://pure.southwales.ac.uk/en/studentthesis/artificial-neural-networks-and-mapmatching-for-gps-navigation(67bf2a4a-fcd2-4a86-8895-0ed296461bc5).html.
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Global navigation satellite systems (GNSS), such as the Global Positioning System (GPS) have been increasingly used in navigation and tracking of vehicles. Using GPS, certain positioning errors and limitations, such as multipath effects and the geometric position of the satellites (DOP) or signal obstructions by high buildings, trees and terrain, have to be considered. Generally travel on road or footpath, map-matching algorithms can be used to correlate the computed system location with a digital map network. Map Matched GPS (MMGPS) is a test-bed simulator for researching algorithms and techniques to reduce the error in position provided by a low cost stand-alone GPS receiver. In order to correctly map-match the GPS positions, a decision about the correct road can be difficult, especially at road junctions, slip roads or almost parallel roads. Investigations into the use of artificial neural networks (ANNs) for reliability and accuracy improvement of map-matched GPS positioning was initiated in previous research [Winter, 2002]. However, there are generally strong interference effects that lead to slow learning and poor generalization when a single ANN is trained to perform different subtasks on different occasions [Jacobs et al., 1991], e.g. correct transport network (TN) segment selection considering different TN geometry. Interference can be reduced by training a system composed of several different "expert" ANNs using a TN geometry indicator to decide which of the experts should be used for each training case. An aim of this research was the design, development and implementation of such a modular neural network (MNN). This work uses a new measure for indicating TN geometry, directly derived from GPS positions in MMGPS. An improvement of more than 50% to traditional map-matching techniques was achieved using the proposed MNN approach, when the correct road could not be uniquely identified by map-matching.
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Forsberg, Johan. "Mobile robot navigation and map generation using range measurements." Licentiate thesis, Luleå tekniska universitet, EISLAB, 1995. http://urn.kb.se/resolve?urn=urn:nbn:se:ltu:diva-17818.
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This thesis is on mobile robot navigation using range sensors. The two sensors types used are time-of-flight lasers and sheet-of-light range cameras, both giving densely spaced range measurements. Map generation and navi gation are achieved in indoor environments, even when there are lots of disturbing objects giving cluttered range measurements. The walls are observed in the range scans using the Range Weighted Hough Transform, (RWHT) and the estimates of the map and the robot position are maintained during motion using Extended Kalman Filtering (EKF). The calibration of sensor parameters during operation uses the relative motion given by the incremental encoders on the wheels as the absolute calibration reference. Matching of observations to previous estimates are performed using a deci sion directed classifier. The algorithms can be used both to build a map, or during navigation using an existing map. The algorithms have been verified in several experiment with the range sensors onboard actual mobile robots. The size of a large room was estimated with a standard deviation of 1 cm. The robot navigates autonomously through an open door detected by the laser. The accuracy during passage was 1 cm at a speed of 0.5 m/s. The trajectory is perpendicular to the wall within 0.5 degrees. In one experiment the robot created a map of its environment while moving at speeds from 0.5 to 1 m/s. The standard deviation in the esti mated map dimensions for a series of tests were 1 to 2 cm and 1 degree. The navigation system has also been used for an autonomous plastering robot with automatic planning to include doors and windows. The navigation is very robust against both outliers in the measurements and disturbing objects. It is not seriously disturbed even when most of the walls are occluded and there are several persons moving around during operation.
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Ptasinski, Piotr. "Inverse DGPS positioning augmented with digital altitude map datasets." Thesis, Brunel University, 2002. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.270572.
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Reichherzer, Thomas Ralf. "A concept map-based approach to document indexing and navigation." [Bloomington, Ind.] : Indiana University, 2009. http://gateway.proquest.com/openurl?url_ver=Z39.88-2004&rft_val_fmt=info:ofi/fmt:kev:mtx:dissertation&res_dat=xri:pqdiss&rft_dat=xri:pqdiss:3358941.
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Thesis (Ph.D.)--Indiana University, Dept. of Computer Science, 2009.Title from PDF t.p. (viewed on Feb. 10, 2010). Source: Dissertation Abstracts International, Volume: 70-05, Section: B, page: 3009. Adviser: David B. Leake.
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Steiner, Theodore J. III (Theodore Joseph). "Utility-based map reduction for ground and flight vehicle navigation." Thesis, Massachusetts Institute of Technology, 2015. http://hdl.handle.net/1721.1/98802.
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Thesis: Ph. D., Massachusetts Institute of Technology, Department of Aeronautics and Astronautics, 2015.Cataloged from PDF version of thesis.
Includes bibliographical references (pages 167-182).
Maps used for navigation often include a database of location descriptions for place-recognition (to enable localization or loop-closing), which permits bounded-error navigation performance. A standard localization system must describe the entire operational environment in its place-recognition database. A standard pose-graph-based simultaneous localization and mapping (SLAM) system adds a new place-recognition database entry for every new vehicle pose, which grows linearly and unbounded in time and thus becomes unsustainable. To address these issues, this thesis proposes a new map-reduction approach that pre-constructs a fixed-size place-recognition database amenable to the limited storage and processing resources of the vehicle by exploiting the high-level structure of the environment and vehicle motion. In particular, the thesis introduces the concept of location utility - which encapsulates the visitation probability of a location and its spatial distribution relative to nearby locations in the database - as a measure of the value of potential localization or loop-closure events to occur at that location. While finding the optimal reduced location database is NP-hard, an efficient greedy algorithm is developed to sort all the locations in a map based on their relative utility without access to sensor measurements or the vehicle trajectory. This enables predetermination of a generic, limited-size place-recognition database containing the N best locations in the environment. A street-map simulator using city-map data and a terrain relative navigation simulator using terrestrial rocket flight data are used to validate the approach and show that an accurate map and trajectory reconstruction (pose-graph) can be attained even when using a place-recognition database with only 1% of the entries of the corresponding full database.
by Theodore J. Steiner III.
Ph. D.
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Turnbull, Lindy. "The collaboration compass : using grounded theory to map interactive navigation." Thesis, Northumbria University, 2017. http://nrl.northumbria.ac.uk/36227/.
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Collaboration is central in the transformation and sustainability of future healthcare with a clear place in integrated models of care, but the operationalisation of collaborative working presents challenges in practice. There is a lack of evidence about how collaboration is sustained in the delivery of healthcare, and a deficiency of studies which include patients as part of collaboration. This thesis investigates the meaning and manifestation of collaboration, including the experience of patients and professionals in practice. A social constructionist approach to grounded theory is used to investigate collaboration in an Outpatient Parenteral Antimicrobial Therapy (OPAT) service. The sample consists of staff and patients who have experience of OPAT. Interviews and focus groups are used to generate data, and grounded theory methods are used to progress the study through constant comparative analysis and theoretical sampling to a point of data saturation. Coding, categorising and techniques of situational analysis are used to analyse data and develop theory. The theory of Interactive Navigation conceptualises collaboration as a device used to navigate complex care situations and to direct collaboration with differing consequences for patients and professionals. The factors which influence collaboration are found to be a range of Situational Co-ordinates (Certainty, Uncertainty, Limits, Goals and Power) and interaction takes place through Interactive Mechanisms (Rehearsing, Coordination, Communication and Trust). The Collaboration Compass model is presented as a tool to inform understanding of Developing, Maintaining, Limiting and Disrupting collaboration. Collaboration is differentiated into four distinct areas and is revealed as a social device integral to the situation in which it takes place. This complexity requires recognition if collaborative health and social care developments are to succeed. The theory of Interactive Navigation presents a new way to view collaboration, and the Collaboration Compass offers a tool to navigate situations and map collaboration in practice.
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Dingus, Thomas A. "Attentional demand evaluation for an automobile moving-map navigation system." Diss., Virginia Tech, 1987. http://hdl.handle.net/10919/53632.
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A study was undertaken to test and evaluate the human factors design aspects of an automobile moving-map navigation system. The primary objective of the study was to assess the driver attentional demand required by the navigation system during vehicle operation. A secondary objective of the study was to assess design specifics and determine whether or not the design was optimal in terms of efficiency of use in an automotive environment.
Thirty-two driver-subjects drove a specially instrumented 1985 Cadillac Sedan de Ville on public roadways for this research. A cross-section of driver-subjects (both genders, ages 18 to 73, and driving experience from 2,000 to 40,000 miles per year) participated, and a cross·section of roadway types (residential, two-lane state route, and limited·access four-lane) and traffic conditions (light and moderate) were used as part of this research.
The driver-subjects were asked to perform a variety of tasks while operating the research vehicle. These tasks included navigation tasks normally performed while using the navigation system, as well as a wide variety of conventional automotive tasks (e.g., tuning the radio or reading the speedometer) normally performed during vehicle operation. The purpose of asking the driver-subjects to perform a variety of conventional automotive tasks was so that direct comparisons in attentional demand could be made between tasks performed daily in an automotive environment and the navigation tasks.
Twenty-one performance and behavioral measures were collected and analyzed for this research. These measures included eye—scanning and dwell-time measures, task-completion-time measures, and a variety of measures indicating driver performance and behavior.
The data analyses for these measures focused on two major goals. First, the analyses determined which tasks (both navigator and conventional) required the highest attentional demand. Second, the analyses were used to determine groups of tasks which, for all practical purposes, required equivalent attentional demand.
The results of the analyses indicated that the navigation system is a relatively effective device, useful for its intended purpose. The results also indicated that a number of design improvements are required, however, to optimize the safety and efficiency of the device. An iterative process of design improvement and further research into the effects of improved design on required attentional demand is therefore recommended.Ph. D.
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Borthwick, Stephen. "A multi-hypothesis approach to autonomous vehicle navigation and map building." Thesis, University of Oxford, 1995. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.268272.
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Tuohy, Séamus Timothy. "Geophysical map representation, abstraction and interrogation for autonomous underwater vehicle navigation." Thesis, Massachusetts Institute of Technology, 1993. http://hdl.handle.net/1721.1/12241.
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Kihlberg, Johan, and Simon Tegelid. "Map Aided Indoor Positioning." Thesis, Linköpings universitet, Reglerteknik, 2012. http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-77766.
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The popularity of wireless sensor networks is constantly increasing, both for use instatic machine to machine environments as well as dynamic environments wherethe sensor nodes are carried by humans. Higher demands are put on real-timetracking algorithms of the sensor nodes, both in terms of accuracy and speed. This thesis addresses the issue of tracking persons wearing small sensor nodeswithin a radio network. Focus lies on fusing sensor data in an efficient way withconsideration to the computationally constrained sensor nodes. Different sensorsare stochastically modelled, evaluated, and fused to form an estimate of the person’sposition. The central approach to solve the problem is to use a dead reckoning methodby detecting steps taken by the wearer combined with an Inertial MeasurementUnit to calculate the heading of the person wearing the sensor node. To decreasethe unavoidable drift which is associated with a dead reckoning algorithm, a mapis successfully fused with the dead reckoning algorithm. The information from themap can to a large extent remove drift. The developed system can successfully track a person wearing a sensor nodein an office environment across multiple floors. This is done with only minorknowledge about the initial conditions for the user. The system can recover fromdivergence situations which increases the long term reliability.Intresset för trådlösa sensornätverk ökar konstant, såväl för statiska maskintill-maskintillämpningar som för dynamiska miljöer där sensornoderna är burnaav människor. Allt högre krav ställs på positioneringsalgoritmer för sensornätverken,där både hög precision och låg beräkningstid ofta är krav. Denna rapport behandlar problemet med att bestämma positionen av personburnasensornoder. Rapportens fokus är att effektivt kombinera sensordatamed hänsyn till sensornodernas begränsade beräkningskapacitet. Olika sensorermodelleras stokastiskt, utvärderas och kombineras för att forma en skattning avsensornodens position. Den huvudsakliga metoden för att lösa problemet är att dödräkna sensornodbärarenssteg kombinerat med kompass och tröghetssensorer för att skattastegets riktning. En karta över byggnaden används för att reducera den annarsoundvikliga drift som härrör från dödräkning. Informationen från kartan visarsig i stor utsträckning kunna reducera den här driften. Det utvecklade systemet kan följa en person genom en kontorsmiljö somsträcker sig över flera våningsplan. Detta med enbart lite information om personensinitiala position. Systemet kan även återhämta sig från situationer däralgoritmen divergerar vilket ökar systemets pålitlighet på lång sikt.
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Kubička, Matěj. "Constrained Time-Dependent Adaptive Eco-Routing Navigation System." Thesis, Université Paris-Saclay (ComUE), 2017. http://www.theses.fr/2017SACLS434/document.
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L'éco-routage est une méthode de navigation du véhicule qui sélectionne les trajets vers une destination minimisant la consommation de carburant, la consommation d'énergie ou les émissions de polluants. C'est l'une des techniques qui tentent de réduire les coûts d'exploitation et l'empreinte environnementale du véhicule. Ce travail passe en revue les méthodes actuelles d'éco-routage et propose une nouvelle méthode pour pallier leurs insuffisances. La plupart des méthodes actuelles attribuent à chaque route du réseau routier un coût constant qui représente la consommation du véhicule ou la quantité de polluants émis. Un algorithme de routage optimal est ensuite utilisé pour trouver le chemin qui minimise la somme de ces coûts. Différentes extensions sont considérées dans la littérature. L'éco-routage contraint permet d'imposer des limites sur le temps de trajet, la consommation d'énergie et les émissions de polluants. L'éco-routage dépendant du temps permet le routage sur un graphique avec des coûts qui sont fonction du temps. L'éco-routage adaptatif permet de mettre à jour la solution d'éco-routage au cas où elle deviendrait invalide en raison d'un développement inattendu sur la route. Il existe des méthodes d'éco-routage optimales publiées qui résolvent l'éco-routage dépendant du temps ou l'éco-routage contraint ou l'éco-routage adaptatif. Chacun vient avec des frais généraux de calcul considérablement plus élevés par rapport à l'éco-routage standard et, à la connaissance de l'auteur, aucune méthode publiée ne prend en charge la combinaison des trois: éco-routage adaptatif dépendant du temps contraint. On soutient dans ce travail que les coûts d'acheminement sont incertains en raison de leur dépendance au trafic immédiat autour du véhicule, du comportement du conducteur et d'autres perturbations. Il est en outre soutenu que puisque ces coûts sont incertains, il y a peu d'avantages à utiliser un routage optimal car l'optimalité de la solution ne tient que tant que les coûts de routage sont corrects. Au lieu de cela, une méthode d'approximation est proposée dans ce travail. La charge de calcul est plus faible car la solution n'est pas requise pour être optimale. Cela permet l'éco-routage adaptatif dépendant du temps contraintEco-routing is a vehicle navigation method that selects those paths to a destination that minimize fuel consumption, energy consumption or pollutant emissions. It is one of the techniques that attempt to lower vehicle's operational cost and environmental footprint. This work reviews the current eco-routing methods and proposes a new method designed to overcome their shortcomings. Most current methods assign every road in the road network some constant cost that represents either vehicle's consumption there or the amount of emitted pollutants. An optimal routing algorithm is then used to find the path that minimizes the sum of these costs. Various extensions are considered in the literature. Constrained eco-routing allows imposing limits on travel time, energy consumption, and pollutant emissions. Time-dependent eco-routing allows routing on a graph with costs that are functions of time. Adaptive eco-routing allows updating the eco-routing solution in case it becomes invalid due to some unexpected development on the road. There exist published optimal eco-routing methods that solve either the time-dependent eco-routing, or constrained eco-routing, or adaptive eco-routing. Each comes with considerably higher computational overhead with respect to the standard eco-routing and, to author's best knowledge, no published method supports the combination of all three: constrained time-dependent adaptive eco-routing. It is argued in this work that the routing costs are uncertain because of their dependence on immediate traffic around the vehicle, on driver's behavior, and other perturbations. It is further argued that since these costs are uncertain, there is little benefit in using optimal routing because the optimality of the solution holds only as long as the routing costs are correct. Instead, an approximation method is proposed in this work. The computational overhead is lower since the solution is not required to be optimal. This enables the constrained time-dependent adaptive eco-routing
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Corominas, Murtra Andreu. "Map-based localization for urban service mobile robotics." Doctoral thesis, Universitat Politècnica de Catalunya, 2011. http://hdl.handle.net/10803/41555.
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Mobile robotics research is currently interested on exporting autonomous navigation results achieved in indoor environments, to more challenging environments, such as, for instance, urban pedestrian areas. Developing mobile robots with autonomous navigation capabilities in such urban environments supposes a basic requirement for a upperlevel service set that could be provided to an users community. However, exporting indoor techniques to outdoor urban pedestrian scenarios is not evident due to the larger size of the environment, the dynamism of the scene due to
pedestrians and other moving obstacles, the sunlight conditions, and the high presence of three dimensional elements such as ramps, steps, curbs or holes. Moreover, GPS-based mobile robot localization has demonstrated insufficient
performance for robust long-term navigation in urban environments.
One of the key modules within autonomous navigation is localization. If localization supposes an a priori map, even if it is not a complete model of the environment, localization is called map-based. This assumption is realistic since current
trends of city councils are on building precise maps of their cities, specially of the most interesting places such as city downtowns. Having robots localized within a map allows for a high-level planning and monitoring, so that robots can
achieve goal points expressed on the map, by following in a deliberative way a previously planned route.
This thesis deals with the mobile robot map-based localization issue in urban pedestrian areas. The thesis approach uses the particle filter algorithm, a well-known and widely used probabilistic and recursive method for data fusion and state estimation. The main contributions of the thesis are divided on four aspects: (1) long-term experiments of mobile robot 2D and 3D position tracking in real urban pedestrian scenarios within a full autonomous navigation framework, (2) developing a fast and accurate technique to compute on-line range observation models in 3D environments, a basic step required by the real-time performance of the developed particle filter, (3) formulation of a particle filter that integrates asynchronous data streams and (4) a theoretical proposal to solve the global localization problem in an active and cooperative way, defining cooperation as either information sharing among the robots or planning joint actions to solve a common goal.Actualment, la recerca en robòtica mòbil té un interés creixent en exportar els resultats de navegació autònoma aconseguits en entorns interiors cap a d'altres tipus d'entorns més exigents, com, per exemple, les àrees urbanes peatonals. Desenvolupar capacitats de navegació autònoma en aquests entorns urbans és un requisit bàsic per poder proporcionar un conjunt de serveis de més alt nivell a una comunitat d'usuaris. Malgrat tot, exportar les tècniques d'interiors cap a entorns exteriors peatonals no és evident, a causa de la major dimensió de l'entorn, del dinamisme de l'escena provocada pels peatons i per altres obstacles en moviment, de la resposta de certs sensors a la il.luminació natural, i de la constant presència d'elements tridimensionals tals com rampes, escales, voreres o forats. D'altra banda, la localització de robots mòbils basada en GPS ha demostrat uns resultats insuficients de cara a una navegació robusta i de llarga durada en entorns urbans. Una de les peces clau en la navegació autònoma és la localització. En el cas que la localització consideri un mapa conegut a priori, encara que no sigui un model complet de l'entorn, parlem d'una localització basada en un mapa. Aquesta assumpció és realista ja que la tendència actual de les administracions locals és de construir mapes precisos de les ciutats, especialment dels llocs d'interés tals com les zones més cèntriques. El fet de tenir els robots localitzats en un mapa permet una planificació i una monitorització d'alt nivell, i així els robots poden arribar a destinacions indicades sobre el mapa, tot seguint de forma deliberativa una ruta prèviament planificada. Aquesta tesi tracta el tema de la localització de robots mòbils, basada en un mapa i per entorns urbans peatonals. La proposta de la tesi utilitza el filtre de partícules, un mètode probabilístic i recursiu, ben conegut i àmpliament utilitzat per la fusió de dades i l'estimació d'estats. Les principals contribucions de la tesi queden dividides en quatre aspectes: (1) experimentació de llarga durada del seguiment de la posició, tant en 2D com en 3D, d'un robot mòbil en entorns urbans reals, en el context de la navegació autònoma, (2) desenvolupament d'una tècnica ràpida i precisa per calcular en temps d'execució els models d'observació de distàncies en entorns 3D, un requisit bàsic pel rendiment del filtre de partícules a temps real, (3) formulació d'un filtre de partícules que integra conjunts de dades asíncrones i (4) proposta teòrica per solucionar la localització global d'una manera activa i cooperativa, entenent la cooperació com el fet de compartir informació, o bé com el de planificar accions conjuntes per solucionar un objectiu comú.
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Czommer, Renate. "Leistungsfähigkeit fahrzeugautonomer Ortungsverfahren auf der Basis von Map-Matching-Techniken." [S.l. : s.n.], 2000. http://www.bsz-bw.de/cgi-bin/xvms.cgi?SWB9131413.
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Malek, Brian Scott. "Proximity Navigation for Map-Based Interfaces: Generalizing Menu Design for Multiple Dimensions." UNF Digital Commons, 2007. http://digitalcommons.unf.edu/etd/281.
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The development of effective multidimensional map-based interfaces is an important area of research in need of design techniques and guidelines. To date, guidelines for multidimensional interfaces have been generalized from text-based interfaces and few experimental studies have been conducted to asses their effectiveness.
Guidelines for design were studied with the goal of extending the current body of knowledge about the usability of these interfaces. Based on design guidelines, multidimensional map-based interfaces with various levels of depth and breath, with and without scent-based components were used to perform simple and compound tasks. The goal of this study was to investigate the effectiveness of design guidelines on response time, preferences, and navigation and task accuracy.
Results showed relationships exist among navigation and task accuracy, response time, and preferences within simple or compound tasks. However, few relationships exist between simple and compound tasks. Contrary to results from previous research, interface depth and breadth was found to have no significant effect on navigation and task accuracy or response time. For compound tasks, interfaces with scent-based components were found to be more effective regarding task accuracy at greater depth levels. The absence of scent in the interface was shown to be more efficient regarding response time and navigation accuracy during compound tasks.
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Kedrowski, Philip Redleaf. "Development and Implementation of a Self-Building Global Map for Autonomous Navigation." Thesis, Virginia Tech, 2001. http://hdl.handle.net/10919/31895.
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Students at Virginia Tech have been developing autonomous vehicles for the past five years. The purpose of these vehicles has been primarily for entry in the annual international Intelligent Ground Vehicle Competition (IGVC), however further applications for autonomous vehicles range from UneXploded Ordinance (UXO) detection and removal to planetary exploration. Recently, Virginia Tech developed a successful autonomous vehicle named Navigator. Navigator was developed primarily for entry in the IGVC, but also intended for use as a research platform. For navigation, Navigator uses a local obstacle avoidance method known as the Vector Field Histogram (VFH). However, in order to form a complete navigation scheme, the local obstacle avoidance algorithm must be coupled with a global map.
This work presents a simple algorithm for developing a quasi-free space global map. The algorithm is based on the premise that the robot will be given multiple attempts at a particular goal. During early attempts, Navigator explores using solely local obstacle avoidance. While exploring, Navigator records where it has been and uses this information on subsequent attempts. Further, this thesis outlines the look-ahead method by which the global map is implemented. Finally, both simulated and experimental results are presented.
The aforementioned global map building algorithm uses a common method of localization known as odometry. Odometry, also referred to as dead reckoning, is subject to inaccuracy caused by systematic and non-systematic errors. In many cases, the most dominant source of inaccuracy is systematic errors. Systematic errors are inherent to the vehicle; therefore, the dead reckoning inaccuracy grows unbounded. Fortunately, it is possible to largely eliminate systematic errors by calibrating the parameters such that the differences between the nominal dimensions and the actual dimensions are minimized. This work presents a method for calibration of mobile robot parameters using optimization. A cost function is developed based on the well-known UMBmark (University of Michigan Benchmark) test pattern. This method is presented as a simple time efficient calibration tool for use during startup procedures of a differentially driven mobile robot. Results show that this tool consistently gives greater than 50% improvement in overall dead reckoning accuracy on an outdoor mobile robot.Master of Science
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Fei, Peng, Zhang Qishan, and Liu Zhongkan. "THE APPLICATION OF MAP MATCHING METHOD IN GPS/INS INTEGRATED NAVIGATION SYSTEM." International Foundation for Telemetering, 2000. http://hdl.handle.net/10150/608268.
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International Telemetering Conference Proceedings / October 23-26, 2000 / Town & Country Hotel and Conference Center, San Diego, CaliforniaMap matching method plays an important role in vehicle location and navigation systems. It employs the information in a digital map to compensate the positioning error. This paper presents a fuzzy-logic-based probabilistic map-matching algorithm used in GPS/INS integrated navigation systems, in which the reliability degree of map matching resolution is given explicitly as the decision basis in selecting matching road segment by utilizing the fuzzy comprehensive judgement. The results of experimental simulations have shown that the system performance gained significant enhancement by introducing this algorithm.
22
Zhu, Lei. "Routing Map Topology Analysis and Application." Diss., The University of Arizona, 2014. http://hdl.handle.net/10150/347053.
Full textAbstract:
The transportation routing map is increasingly used in various transportation network modeling applications such as vehicle navigation and traffic assignment modeling. A typical navigation GIS map contains all detailed road facility layers and may not be as computationally efficient as a lower-resolution map for path finding. A lower-resolution transportation routing map retains only route-finding related roadways and is efficient for path finding but may result in sub-optimal routes because of misclassification links. With the goal in balancing the traffic analysis requirement of intended application and computation requirements of transportation navigation and traffic assignment, the systematic abstraction of the lower-resolution transportation routing map from high resolution map is an important and non-trivial task. For vehicle navigation applications, the traffic analysis requirement is the shortest path quality. An innovative transportation routing map abstraction method or Connectivity Enhancement Algorithm (CEA) is proposed to deal with vehicle navigation application routing map abstraction. The algorithm starts from a low-resolution network and keeps updating the map by adding links and nodes when it processes each search set. The outcome of the algorithm is an abstract map that retains the original detailed map's hierarchical structure with quality topological connectivity at a significant computations saving. With the development of traffic assignment modeling, a detailed network is desired to describe the real world traffic network. It is the consensus that one should not directly apply a GIS map blind-sight without a systematic approach and unnecessarily overuse the network details causes excessive run time. The traffic analysis requirement of those applications is the dynamic user equilibrium (DUE) condition network performance is identical or near-identical with high resolution network. The lowest network resolution level that meets the requirements of emerging traffic analysis is not easy to determine. The proposed traffic analysis network abstraction method gives a solution for this problem. It is an iterative network abstraction approach and considers the link travel time with DUE traffic condition. The case study and numerical analysis prove that the two network abstraction methods are sound and promising. The transportation routing map abstraction method could detect most misclassification links and is robust for different network scales. The abstracted navigation map provides the identical or near-identical SP cost/travel time for any OD pair while the computation burden is much lighter than that on original map. In another hand, the case studies about the traffic analysis network abstraction tell that the method converges very quick and the rendered the abstracted network that has lowest resolution of network or least links and nodes but the DUE condition network performance or trips cost/travel time is much closer to that on the original map.
23
Ulusoy, Ilkay. "Active Stereo Vision: Depth Perception For Navigation, Environmental Map Formation And Object Recognition." Phd thesis, METU, 2003. http://etd.lib.metu.edu.tr/upload/12604737/index.pdf.
Full textAbstract:
In very few mobile robotic applications stereo vision based navigation and mapping is used because dealing with stereo images is very hard and very time consuming. Despite all the problems, stereo vision still becomes one of the most important resources of knowing the world for a mobile robot because imaging provides much more information than most other sensors. Real robotic applications are very complicated because besides the problems of finding how the robot should behave to complete the task at hand, the problems faced while controlling the robot&rsquos internal parameters bring high computational load. Thus, finding the strategy to be followed in a simulated world and then applying this on real robot for real applications is preferable. In this study, we describe an algorithm for object recognition and cognitive map formation using stereo image data in a 3D virtual world where 3D objects and a robot with active stereo imaging system are simulated. Stereo imaging system is simulated so that the actual human visual system properties are parameterized. Only the stereo images obtained from this world are supplied to the virtual robot. By applying our disparity algorithm, depth map for the current stereo view is extracted. Using the depth information for the current view, a cognitive map of the environment is updated gradually while the virtual agent is exploring the environment. The agent explores its environment in an intelligent way using the current view and environmental map information obtained up to date. Also, during exploration if a new object is observed, the robot turns around it, obtains stereo images from different directions and extracts the model of the object in 3D. Using the available set of possible objects, it recognizes the object.
24
Rizzardo, Caitlan A. "Multipurpose Map Designs for GPS Surface-Vehicle Navigation: Spatial Knowledge and Advisory Functions." Wright State University / OhioLINK, 2011. http://rave.ohiolink.edu/etdc/view?acc_num=wright1316635259.
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Utěkal, Jan. "Víceuživatelská mapová aplikace pro mobilní zařízení." Master's thesis, Vysoké učení technické v Brně. Fakulta informačních technologií, 2012. http://www.nusl.cz/ntk/nusl-236585.
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This thesis presents design and implementation of multiuser mapping application for mobile device. The aim is to create a coordination system intended primarily for controlling mobile units of the Police of the Czech Republic. First, the existing solutions with similar focus are described. Subsequently, the most suitable communication, mapping and database technologies are selected. The next part of this work describes the system design and its implementation. Effectiveness of the system is verified in a series of tests, which deal with the power and data consumption. The thesis concludes with possible extensions of the program and ways of future development.
26
Bachelder, Ivan A. (Ivan Andrew). "Visual map-making and guided reinforcement learning for mobile robot navigation : a neurocomputational approach." Thesis, Massachusetts Institute of Technology, 1996. http://hdl.handle.net/1721.1/11294.
Full textAbstract:
Thesis (Ph. D.)--Massachusetts Institute of Technology, Dept. of Electrical Engineering and Computer Science, 1996.Includes bibliographical references (p. 245-260).
by Ivan Andrew Bachelder.
Ph.D.
27
Koroglu, Muhammed Taha. "Multiple Hypothesis Testing Approach to Pedestrian Inertial Navigation with Non-recursive Bayesian Map-matching." The Ohio State University, 2020. http://rave.ohiolink.edu/etdc/view?acc_num=osu1577135195323298.
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Bordallo, Micó Alejandro. "Intention prediction for interactive navigation in distributed robotic systems." Thesis, University of Edinburgh, 2017. http://hdl.handle.net/1842/28802.
Full textAbstract:
Modern applications of mobile robots require them to have the ability to safely and effectively navigate in human environments. New challenges arise when these robots must plan their motion in a human-aware fashion. Current methods addressing this problem have focused mainly on the activity forecasting aspect, aiming at improving predictions without considering the active nature of the interaction, i.e. the robot’s effect on the environment and consequent issues such as reciprocity. Furthermore, many methods rely on computationally expensive offline training of predictive models that may not be well suited to rapidly evolving dynamic environments. This thesis presents a novel approach for enabling autonomous robots to navigate socially in environments with humans. Following formulations of the inverse planning problem, agents reason about the intentions of other agents and make predictions about their future interactive motion. A technique is proposed to implement counterfactual reasoning over a parametrised set of light-weight reciprocal motion models, thus making it more tractable to maintain beliefs over the future trajectories of other agents towards plausible goals. The speed of inference and the effectiveness of the algorithms is demonstrated via physical robot experiments, where computationally constrained robots navigate amongst humans in a distributed multi-sensor setup, able to infer other agents’ intentions as fast as 100ms after the first observation. While intention inference is a key aspect of successful human-robot interaction, executing any task requires planning that takes into account the predicted goals and trajectories of other agents, e.g., pedestrians. It is well known that robots demonstrate unwanted behaviours, such as freezing or becoming sluggishly responsive, when placed in dynamic and cluttered environments, due to the way in which safety margins according to simple heuristics end up covering the entire feasible space of motion. The presented approach makes more refined predictions about future movement, which enables robots to find collision-free paths quickly and efficiently. This thesis describes a novel technique for generating "interactive costmaps", a representation of the planner’s costs and rewards across time and space, providing an autonomous robot with the information required to navigate socially given the estimate of other agents’ intentions. This multi-layered costmap deters the robot from obstructing while encouraging social navigation respectful of other agents’ activity. Results show that this approach minimises collisions and near-collisions, minimises travel times for agents, and importantly offers the same computational cost as the most common costmap alternatives for navigation. A key part of the practical deployment of such technologies is their ease of implementation and configuration. Since every use case and environment is different and distinct, the presented methods use online adaptation to learn parameters of the navigating agents during runtime. Furthermore, this thesis includes a novel technique for allocating tasks in distributed robotics systems, where a tool is provided to maximise the performance on any distributed setup by automatic parameter tuning. All of these methods are implemented in ROS and distributed as open-source. The ultimate aim is to provide an accessible and efficient framework that may be seamlessly deployed on modern robots, enabling widespread use of intention prediction for interactive navigation in distributed robotic systems.
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Rizzardo, Caitlan A. "Spatial Knowledge Acquisition on GPS Navigational Map Displays: Influence of Landmarks on Sequentially Presented, Partial Maps." Wright State University / OhioLINK, 2016. http://rave.ohiolink.edu/etdc/view?acc_num=wright1464527536.
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Peška, Jaroslav. "Strojové chápání map a výpočet optimální cesty." Master's thesis, Vysoké učení technické v Brně. Fakulta elektrotechniky a komunikačních technologií, 2020. http://www.nusl.cz/ntk/nusl-413193.
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This masters thesis continues in the work of two previous theses dealing with machine understanding of maps and modelling terrain. The final program also has to be able to interpret position data from dataloggers and integrate it with the loaded map. The goal for the program is to serve during training of Czech orienteering runners. Position measurement and storage is researched first. Also researched are map markers used to define the terrain. Afterwards, past approaches are evaluated, including identification of most severe issues hindering the usage in real world applications. Many improvements are proposed, for example methods to remove noise in the input data, or to improve processing speed. Lastly, a set of possible improvements to the original applications are made, i.e. methods for denoising the input data or for speedup of the image processing. Proposed improvements are then implemented, the most impactful being processing speed and contour segmentation improvements.
31
Fei, Peng, Zheng Pingfang, Zhang Qishan, and Liu Zhongkan. "KEY TECHNOLOGIES IN DEVISING AUTONOMOUS VEHICLE LOCATION AND NAVIGATION SYSTEM." International Foundation for Telemetering, 1999. http://hdl.handle.net/10150/607332.
Full textAbstract:
International Telemetering Conference Proceedings / October 25-28, 1999 / Riviera Hotel and Convention Center, Las Vegas, NevadaIn this paper, a devising scheme of Autonomous Vehicle Location and Navigation System is introduced firstly. Then, several key technologies used in the devising scheme are presented, which includes a data fusion method based on extended decentralized kalman filter technology, a map-matching method used to compensate the positioning error, and a digital map data processing method used to realize route planning algorithm. By this time, a sample machine based on the devising scheme introduced in this paper has already been worked out successfully. The availability and the advantages of these technologies have been demonstrated.
32
Dewey, Ryan. "A Sense of Space: Conceptualization in Wayfinding and Navigation." Case Western Reserve University School of Graduate Studies / OhioLINK, 2012. http://rave.ohiolink.edu/etdc/view?acc_num=case1339097784.
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Saffell, Tiffany N. "In-Car Navigation Systems: The Effects of Landmark Specificity and Map Rotation on Spatial Knowledge and Route Acquisition." Wright State University / OhioLINK, 2008. http://rave.ohiolink.edu/etdc/view?acc_num=wright1213593068.
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Bacilieri, Federico. "Solutions and algorithms for inertial navigation of railroad vehicles." Master's thesis, Alma Mater Studiorum - Università di Bologna, 2017. http://amslaurea.unibo.it/14209/.
Full textAbstract:
Obiettivo di questa tesi è lo studio e lo sviluppo di soluzioni innovative di navigazione inerziale per applicazioni ferroviarie, strumento utile per il tracciamento del moto durante l'assenza prolungata di sistemi di localizzazione esterni, tipo GPS, come può avvenire in galleria. Definiti gli strumenti di lavoro, è stata poi eseguita un'analisi dello stato dell'arte al fine di mettere in evidenza le metodologie teoriche utilizzate, nonchè le prestazioni dei sistemi già esistenti. Sono poi caratterizzati i sensori e le misure disponibili.
Sono proposte varie soluzioni al problema della navigazione inerziale, con l'obiettivo di valutarne le prestazioni durante periodi prolungati assenza del GPS e con varie condizioni al contorno. Dopo una prima versione basata su un singolo EKF, si è scelto di svilupparne una seconda classe in cui il problema di stimadi assetto (AHRS) e diposizione/velocità sono separati e risolti mediante due algoritmi distinti. È stato implementato un AHRS basato su EKF e uno mediante un osservatore non lineare; inoltre, sono stati sviluppati un EKF di ordine completo e uno ridotto per le dinamiche di traslazione. È stata poi sviluppata una soluzione per l'integrazione dei dati delle mappe, in modo da fornire correzioni più frequenti all'INS, mantenendo inoltre un ridotto carico computazionale e facilità di integrazione.
Si è infine proceduto implementando e simulando la soluzione a singolo stadio e le varie combinazioni di INS a due stadi in ambiente Matlab-Simulink. Gli algoritmi a due stadi hanno mostrato in simulazione prestazioni migliori rispetto alla struttura a EKF singolo la quale presenta un dominio di convergenza troppo limitato per fini pratici.
A conclusione del lavoro, svolto avvalendosi della collaborazione di Sadel, sono state gettate le basi per una successiva analisi atta a verificare se la struttura a due stadi consente la convergenza anche dei bias di accelerometro
35
Keeratipranon, Narongdech. "Robot navigation in sensor space." Queensland University of Technology, 2009. http://eprints.qut.edu.au/29316/.
Full textAbstract:
This thesis investigates the problem of robot navigation using only landmark bearings. The proposed system allows a robot to move to a ground target location specified by the sensor values observed at this ground target posi- tion. The control actions are computed based on the difference between the current landmark bearings and the target landmark bearings. No Cartesian coordinates with respect to the ground are computed by the control system. The robot navigates using solely information from the bearing sensor space. Most existing robot navigation systems require a ground frame (2D Cartesian coordinate system) in order to navigate from a ground point A to a ground point B. The commonly used sensors such as laser range scanner, sonar, infrared, and vision do not directly provide the 2D ground coordi- nates of the robot. The existing systems use the sensor measurements to localise the robot with respect to a map, a set of 2D coordinates of the objects of interest. It is more natural to navigate between the points in the sensor space corresponding to A and B without requiring the Cartesian map and the localisation process. Research on animals has revealed how insects are able to exploit very limited computational and memory resources to successfully navigate to a desired destination without computing Cartesian positions. For example, a honeybee balances the left and right optical flows to navigate in a nar- row corridor. Unlike many other ants, Cataglyphis bicolor does not secrete pheromone trails in order to find its way home but instead uses the sun as a compass to keep track of its home direction vector. The home vector can be inaccurate, so the ant also uses landmark recognition. More precisely, it takes snapshots and compass headings of some landmarks. To return home, the ant tries to line up the landmarks exactly as they were before it started wandering. This thesis introduces a navigation method based on reflex actions in sensor space. The sensor vector is made of the bearings of some landmarks, and the reflex action is a gradient descent with respect to the distance in sensor space between the current sensor vector and the target sensor vec- tor. Our theoretical analysis shows that except for some fully characterized pathological cases, any point is reachable from any other point by reflex action in the bearing sensor space provided the environment contains three landmarks and is free of obstacles. The trajectories of a robot using reflex navigation, like other image- based visual control strategies, do not correspond necessarily to the shortest paths on the ground, because the sensor error is minimized, not the moving distance on the ground. However, we show that the use of a sequence of waypoints in sensor space can address this problem. In order to identify relevant waypoints, we train a Self Organising Map (SOM) from a set of observations uniformly distributed with respect to the ground. This SOM provides a sense of location to the robot, and allows a form of path planning in sensor space. The navigation proposed system is analysed theoretically, and evaluated both in simulation and with experiments on a real robot.
36
Balazadegan, Sarvrood Yashar, and Md Nurul Amin. "Server Based Real Time GPS-IMU Integration Aided by Fuzzy Logic Based Map Matching Algorithm for Car Navigation." Thesis, KTH, Geoinformatik och Geodesi, 2011. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-41263.
Full textAbstract:
The stand-alone Global Positioning System (GPS) or an Integrated GPS and Dead Reckoning Systems (such as Inertial Navigation System or Odometer and magnetometer) have been widely used for vehicle navigation. An essential process in such an application is to map match the position obtained from GPS (or/and other sensors) on a digital road network map. GPS positioning is relatively accurate in open sky conditions, but its position is not accurate in dense urban canyon conditions where GPS is affected by signal blockage and multipath. High sensitivity GPS (HS GPS) receivers, can increase the availability, but are affected by multipath and cross correlation due to weak signal tracking. Inertial navigation system can be used to bridge GPS gaps, However, position and velocity results in such conditions are typically biased, therefore, fuzzy logic based map matching, is mostly used because it can take noisy, imprecise input, to yield crisp (i.e. numerically accurate) output. Fuzzy logic can be applied effectively to map match the output from a High sensitivity GPS receiver or integrated GPS and INS in urban canyons because of its inherent tolerance to imprecise inputs. In this thesis stand-alone GPS positioning and integrated GPS and Inertial Measurement Unit (IMU) positioning aided by fuzzy logic based map matching for Stockholm urban and suburban areas are performed. A comparison is carried out between, Map matching for stand-alone GPS and integrated GPS and IMU. Stand-alone GPS aided map matching algorithms identifies 96.4% of correct links for rural area, 92.6% for urban area (car test) and 93.4% for bus test in urban area. Integrated GPS and IMU aided map matching algorithms identifies 97.3% of correct links for rural area, 94.4% for urban area (car test) and 94.4% for bus test in urban area. Integrated GPS and Inertial Measurement Unit produces better vehicle azimuth than stand-alone GPS, especially at low speed. Furthermore, there are five more fuzzy rules based on gyro rate in integrated GPS and IMU map matching algorithm. Therefore, it shows better map matching results. GPS blackout happens rarely in Stockholm, because there are not many tall buildings in this city. Therefore, the integrated GPS and IMU aided by map matching shows only small improvement over stand-alone GPS aided by map matching.
37
Zhu, Yueqin [Verfasser], Liqiu [Akademischer Betreuer] Meng, and Georg [Akademischer Betreuer] Gartner. "Enrichment of routing map and its visualization for multimodal navigation / Yueqin Zhu. Gutachter: Georg Gartner. Betreuer: Liqiu Meng." München : Universitätsbibliothek der TU München, 2012. http://d-nb.info/1025150414/34.
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Gokhool, Tawsif Ahmad Hussein. "Cartographie dense basée sur une représentation compacte RGB-D dédiée à la navigation autonome." Thesis, Nice, 2015. http://www.theses.fr/2015NICE4028/document.
Full textAbstract:
Dans ce travail, nous proposons une représentation efficace de l’environnement adaptée à la problématique de la navigation autonome. Cette représentation topométrique est constituée d’un graphe de sphères de vision augmentées d’informations de profondeur. Localement la sphère de vision augmentée constitue une représentation égocentrée complète de l’environnement proche. Le graphe de sphères permet de couvrir un environnement de grande taille et d’en assurer la représentation. Les "poses" à 6 degrés de liberté calculées entre sphères sont facilement exploitables par des tâches de navigation en temps réel. Dans cette thèse, les problématiques suivantes ont été considérées : Comment intégrer des informations géométriques et photométriques dans une approche d’odométrie visuelle robuste ; comment déterminer le nombre et le placement des sphères augmentées pour représenter un environnement de façon complète ; comment modéliser les incertitudes pour fusionner les observations dans le but d’augmenter la précision de la représentation ; comment utiliser des cartes de saillances pour augmenter la précision et la stabilité du processus d’odométrie visuelleOur aim is concentrated around building ego-centric topometric maps represented as a graph of keyframe nodes which can be efficiently used by autonomous agents. The keyframe nodes which combines a spherical image and a depth map (augmented visual sphere) synthesises information collected in a local area of space by an embedded acquisition system. The representation of the global environment consists of a collection of augmented visual spheres that provide the necessary coverage of an operational area. A "pose" graph that links these spheres together in six degrees of freedom, also defines the domain potentially exploitable for navigation tasks in real time. As part of this research, an approach to map-based representation has been proposed by considering the following issues : how to robustly apply visual odometry by making the most of both photometric and ; geometric information available from our augmented spherical database ; how to determine the quantity and optimal placement of these augmented spheres to cover an environment completely ; how tomodel sensor uncertainties and update the dense infomation of the augmented spheres ; how to compactly represent the information contained in the augmented sphere to ensure robustness, accuracy and stability along an explored trajectory by making use of saliency maps
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Altuntas, Berrin. "A Behavior Based Robot Contol System Architecture For Navigation In Environments With Randomly Allocated Walls." Master's thesis, METU, 2004. http://etd.lib.metu.edu.tr/upload/1097054/index.pdf.
Full textAbstract:
Integration of knowledge to the control system of a robot is the best way to emerge intelligence to robot. The most useful knowledge for a robot control system that aims to visit the landmarks in an environment is the enviromental knowledge. The most natural representation of the robot&rsquos environment is a map. This study presents a behavior based robot control system architecture that is based on subsumption and motor schema architectures and enables the robot to construct the map of the environment by using proximity sensors, odometry sensors, compass and image. The knowledge produced after processing the sensor values, is stored in Short Term Memory (STM) or Long Term Memory (LTM) of the robot, according to the persistence requirements of the knowledge. The knowledge stored in the STM acts as a sensor value, while LTM stores the map of the environment. The map of the environment is not a priori information for the robot, but it constructs the map as it moves in the environment. By the help of the map constructed the robot will be enabled to visit non-visited areas in the environment and to localize itself in its internal world. The controller is designed for a real robot Khepera equipped with the sensors required. The controller was tested on simulator called Webots version 2.0 on Linux operating system.
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Vaaraniemi, Mikael [Verfasser], Rüdiger [Akademischer Betreuer] Westermann, and Jürgen [Akademischer Betreuer] Döllner. "Usability Oriented Visualization Techniques for 3D Navigation Map Display / Mikael Vaaraniemi. Gutachter: Rüdiger Westermann ; Jürgen Döllner. Betreuer: Rüdiger Westermann." München : Universitätsbibliothek der TU München, 2014. http://d-nb.info/1052307795/34.
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Tian, Daji. "Optimisation de la Cartographie et de la navigation des Robots Mobiles Coopératifs." Thesis, Ecole centrale de Lille, 2014. http://www.theses.fr/2014ECLI0016/document.
Full textAbstract:
Cette thèse présente tout d'abord un méthode d’exploration mono-robot, ensuite une stratégie coopérative décentralisée d'exploration pour un groupe de robots équipés de range finders. Une carte 2-D de la zone explorée est construite sous la forme de figure en pixels et est étendue par les robots en utilisant un planner local qui décide automatiquement entre l'information gagnée et le coût d'exploration. La carte est construite en utilisant la méthode des moindres carrés pour réduire les erreurs des données des capteurs. En divisant la tâche globale en sous-tâches, un contrôleur intelligent permet de réduire la complexité. Cependant, la fusion de différents comportements avec des objectifs différents peut entraîner des contradictions et modifier ainsi la stabilité du système. Par conséquent, la question de mécanisme de coordination de comportements est essentielle pour réaliser un mouvement sécurisé sans collisions. Une méthode intégrée par la coordination des comportements et de commande par fusion est proposée dans le présent travail. Une nouvelle approche basée sur cinq comportements de base pour la navigation de robots mobiles est discutée. Player/Stage est un projet de logiciel open-source pour la recherche sur la robotique. Ses composants comprennent le serveur de réseau et les simulateurs de robot pour plusieurs types de plates-formes de robots. Nous utilisons principalement simulation sous Player/Stage pour tester nos algorithmes en mono-agents/multi-agents , en cartographie et en navigation. Les résultats obtenus montrent que les solutions proposées sont efficaces et peuvent être utilisées dans des robots réelsIn this Ph. D., we will present firstly a single robot exploration method, then a decentralized cooperative exploration strategy for a team of mobile robots equipped with a range finders. A two dimensional map of the explored area is built in the form of a pixel figure. This is expanded by the robots by using a randomized local planner that authomatically realizes a decision between information gain and navigation cost. In our work, the map is reconstructed using a least-mean square method to reduce the errors of the sensor data. In dividing the overall task into subtasks, the intelligent controller allows reducing the robots task complexity. But the fusion of different behaviors with different objectives may cause contradiction in the procedure and alter the stability of the system. Therefore, the issue of behavior coordination mechanisms is crucial in order to realize the non-collision safety-ensured movements. A method integrated by behavior coordination and command fusion is proposed. A new approach with five basic behaviors for mobile robot navigation is discussed.Player/ Stage is an open-source software project for research in robotics and sensor systems. Its components include the Player network server and the Stage robot platform simulators providing a hardware abstraction layer to several popular robot platforms. Player is one of the most popular robot interfaces in research. We mainly use Player/Stage simulation to test our algorithms in mono-agent/multi-agent exploration, map reconstruction and robot navigation. Obtained results show that the proposed approaches are effective and can be applied in real robots
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Lamprecht, Andreas. "Energieprädiktion und Reichweitendarstellung durch Navigationsdaten im Kraftfahrzeug." Doctoral thesis, Universitätsbibliothek Chemnitz, 2016. http://nbn-resolving.de/urn:nbn:de:bsz:ch1-qucosa-213218.
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Im Zuge der immer größer werdenden Knappheit fossiler Ressourcen und des damit verbundenen Anstiegs des Rohölpreises ergibt sich ein Trend hin zur Elektromobilität. In den nächsten Jahren werden jedoch nur Elektrofahrzeuge mit deutlich eingeschränkter maximaler Reichweite im Vergleich zu Benzin- oder Dieselfahrzeugen produziert werden können. Um den täglichen Umgang des Kunden mit einem Elektrofahrzeug trotzdem möglichst reibungslos zu ermöglichen, wurde im Rahmen dieser Arbeit eine neuartige Anzeige der verbleibenden Reichweite auf der Navigationskarte entwickelt. Nach detaillierter Analyse vorhandener Ansätze wurde je ein empirisches und ein modellbasiertes Verfahren ausgearbeitet. Die Ansätze wurden systematisch verglichen und zu einem komplett neuartigen, hybriden Ansatz kombiniert. Die auftretenden Verbräuche des Fahrzeugs werden im Kundenbetrieb erfasst, je nach Fahrsituation klassifiziert und für eine Extrapolation in der Zukunft verwendet. Die entwickelte Methodik zur Untersuchung der erreichbaren Genauigkeit ergab ein erzielbares Fehlermaß von durchschnittlich unter 10%Due to the prospect of a worldwide shortage of fossil fuels and the correlated increase of prices for crude-oil, a global trend to invest in electric mobility has started. During the next couple of years, electric vehicles will still have restrictions on the maximum distance that can be driven before having the need to recharge the battery. The potential costumers face the so-called „range-anxiety“, the fear to be stranded prior to reaching the destination. In order to provide a safe and easy way of operating such a vehicle, the work conducted in the course of this doctoral thesis led to a new way of displaying the remaining range of the vehicle on a navigation map. After detailed analysis of the state of the art, an empirical- and a model-based solution for calculating the remaining range were developed utilizing predictive map-data from a roadnetwork. After a systematical optimization of the developed solutions, an embedded prototype was developed which captured the driving situation of the vehicle together with the corresponding energy-consumption in order to provide a context-aware interpolation of the remaining range, depending on where the costumer would drive next. A developed methodology of objectively determining the error produced by the system resulted in a mean-deviation of 10% of absolute value
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LocPort, Jamie Kendra. "THE NOSE KNOWS WHICH WAY THE ODOR FLOWS: SPATIAL ORIENTATION IN ODOR-GUIDED NAVIGATION." Case Western Reserve University School of Graduate Studies / OhioLINK, 2018. http://rave.ohiolink.edu/etdc/view?acc_num=case1522781434619908.
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Brondani, Juliana Rubenich. "Pathfinding in hierarchical representation of large realistic virtual terrains." reponame:Biblioteca Digital de Teses e Dissertações da UFRGS, 2018. http://hdl.handle.net/10183/185250.
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Pathfinding is critical to virtual simulation applications. One of the most prominent pathfinding challenges is the fast computation of path plans in large and realistic virtual terrain environments. To tackle this problem, this work proposes the exploration of a quadtree structure in the navigation map representation of large real-world virtual terrains. Exploring a hierarchical approach for virtual terrain representation, we detail how a global hierarchical pathfinding algorithm searches for a path in a coarse initial navigation map representation. Then, during execution time, the pathfinding algorithm refines regions of interest in this terrain representation in order to compute paths with a higher quality in areas where a large amount of navigation obstacles is found. The computational time of such hierarchical pathfinding algorithm is systematically measured in different hierarchical and non-hierarchical terrain representation structures that are instantiated in the modeling of a small real-world terrain scenario. Then, similar experiments are developed in a large real-world virtual terrain that is inserted in a real-life simulation system for the development of military tactical training exercises. The results show that the computational time required to generate pathfinding answers can be optimized when the proposed hierarchical pathfinding algorithm along with the easy and reliable implementation of the quadtree-based navigation map representation of the large virtual terrain are explored in the development of simulation systems.
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Reiter, Matthias Christian [Verfasser], Dirk [Akademischer Betreuer] Abel, and Bernhard [Akademischer Betreuer] Rumpe. "Environment and Tools for the Development of Navigation- and Map-based Driver Assistance and Vehicle Guidance Systems / Matthias Christian Reiter ; Dirk Abel, Bernhard Rumpe." Aachen : Universitätsbibliothek der RWTH Aachen, 2017. http://d-nb.info/1161807675/34.
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Klaser, Rafael Luiz. "Navegação de veículos autônomos em ambientes externos não estruturados baseada em visão computacional." Universidade de São Paulo, 2014. http://www.teses.usp.br/teses/disponiveis/55/55134/tde-22092014-095209/.
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Este trabalho apresenta um sistema de navegação autônoma para veículos terrestres com foco em ambientes não estruturados, tendo como principal meta aplicações em campos abertos com vegetação esparsa e em cenário agrícola. É aplicada visão computacional como sistema de percepção principal utilizando uma câmera estéreo em um veículo com modelo cinemático de Ackermann. A navegação é executada de forma deliberativa por um planejador baseado em malha de estados sobre um mapa de custos e localização por odometria e GPS. O mapa de custos é obtido através de um modelo de ocupação probabilístico desenvolvido fazendo uso de uma OctoMap. É descrito um modelo sensorial para atualizar esta OctoMap a partir da informação espacial proveniente de nuvens de pontos obtidas a partir do método de visão estéreo. Os pontos são segmentados e filtrados levando em consideração os ruídos inerentes da aquisição de imagens e do processo de cálculo de disparidade para obter a distância dos pontos. Os testes foram executados em ambiente de simulação, permitindo a replicação e repetição dos experimentos. A modelagem do veículo foi descrita para o simulador físico Gazebo de acordo com a plataforma real CaRINA I (veículo elétrico automatizado do LRM-ICMC/USP), levando-se em consideração o modelo cinemático e as limitações deste veículo. O desenvolvimento foi baseado no ROS (Robot Operating System) sendo utilizada a arquitetura básica de navegação deste framework a partir da customização dos seus componentes. Foi executada a validação do sistema no ambiente real em cenários com terreno irregular e obstáculos diversos. O sistema apresentou um desempenho satisfatório tendo em vista a utilização de uma abordagem baseada em apenas uma câmera estéreo. Nesta dissertação são apresentados os principais componentes de um sistema de navegação autônoma e as etapas necessárias para a sua concepção, assim como resultados de experimentos simulados e com o uso de um veículo autônomo realThis work presents a system for autonomous vehicle navigation focusing on unstructured environments, with the primary goal applications in open fields with sparse vegetation, unstructured environments and agricultural scenario. Computer vision is applied as the main perception system using a stereo camera in a car-like vehicle with Ackermann kinematic model. Navigation is performed deliberatively using a path planner based on a lattice state space over a cost map with localization by odometry and GPS. The cost map is obtained through a probabilistic occupation model developed making use of an OctoMap. It is described a sensor model to update the spatial occupancy information of the OctoMap from a point cloud obtained by stereo vision. The points are segmented and filtered taking into account the noise inherent in the image acquisition and calculation of disparity to obtain the distance from points. Tests are performed in simulation, allowing replication and repetition of experiments. The modeling of the vehicle is described to be used in the Gazebo physics simulator in accordance with the real platform CaRINA I (LRM-ICMC/USP automated electrical vehicle) taking into account the kinematic model and the limitations of this vehicle. The development is based on ROS (Robot Operating System) and its basic navigation architecture is customized. System validation is performed on real environment in scenarios with different obstacles and uneven terrain. The system shows satisfactory performance considering a simple configuration and an approach based on only one stereo camera. This dissertation presents the main components of an autonomous navigation system and the necessary steps for its conception as well as results of experiments in simulated and using a real autonomous vehicle
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Dumont, Marion. "Généralisation de représentations intermédiaires dans une carte topographique multi-échelle pour faciliter la navigation de l'utilisateur." Thesis, Paris Est, 2018. http://www.theses.fr/2018PESC1076/document.
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Une carte multi-échelle est un ensemble de cartes à différentes échelles, dans lequel l’utilisateur peut naviguer via un géoportail. Chacune de ces cartes est préalablement construite par généralisation cartographique, processus qui adapte la représentation cartographique à une échelle donnée. Les changements de représentations qu’implique la généralisation entre deux cartes à différentes échelles sont susceptibles de perturber l’utilisateur, rendant sa navigation plus difficile. Nous proposons dans cette thèse d’ajouter des représentations intermédiaires dans une carte multi-échelle existante, pour créer une évolution plus fluide du contenu cartographique au fil des échelles. Alors que de solides connaissances théoriques existent pour la conception cartographique traditionnelle, on ne sait pas encore comment concevoir une carte multi-échelle efficace. Pour formaliser des connaissances à ce sujet, nous avons étudié un panel de seize cartes multi-échelles existantes. Nous avons analysé les systèmes de zoom utilisés ainsi que l’évolution des représentations cartographiques au fil des échelles, en particulier les changements de niveaux d’abstraction pour les objets bâtis et routiers. Nous avons aussi évalué la variation de complexité visuelle du contenu cartographique au fil des échelles, en utilisant des mesures de clutter visuel. Nous avons ainsi identifié les tendances générales en termes de représentations multi-échelles (comme l’application du standard WMTS), certains facteurs que nous considérons comme ayant une influence négative sur la navigation de l’utilisateur (comme l’utilisation d’une même carte à différentes échelles), ainsi que des pratiques intéressantes visant à la faciliter (comme les représentations mixtes). A partir de ces constats, nous avons formulé des hypothèses sur l’influence des variables de construction des représentations intermédiaires sur la fluidité de navigation. Nous avons construit un matériel de test à partir d’un extrait de la carte multi-échelle Scan Express de l’IGN, entre les cartes existant au 1 : 25k et au 1 : 100k. Nous avons ainsi produit quatre versions différentes de représentations intermédiaires entre ces deux cartes, implémentant nos différentes hypothèses. Cet exercice nous a permis de mieux cerner les verrous techniques que soulève la production de représentations intermédiaires. Nous avons enfin conduit un test utilisateurs contrôlé, en demandant à 15 participants de réaliser une tâche cartographique sur ces différentes cartes multi-échelles, pour évaluer la pertinence de nos hypothèsesA multi-scale map is a set of maps at different scales, displayed on mapping applications, in which users may navigate by zooming in or out. Each of these maps is produced beforehand by cartographic generalization, which aims to adapt the cartographic representation for a target scale. Due to generalization, the representation changes between maps at different scales may disturb the user during its navigation. We assume that adding intermediate representations in an existing multi-scale map may enable a smooth evolution of cartographic content across scales. While theoretical knowledge exists for traditional cartography, we still do not know how to design efficient multi-scale maps. To formalize knowledge on that subject, we studied sixteen existing multi-scale maps. We focused on the used zooming system (zoom levels and display scales) and on the evolution of cartographic representations across scales, in particular for building and road entities. We also analyzed the variation of visual complexity of the map content across scales, using visual clutter measures. We thus identified general trends in terms of multi-scale representation (i.e. use of WMTS standard), some potential disturbing factors (i.e. use of a same map at different scales), but also good practices which may ease the user navigation (i.e. mixed representations). Based on these findings, we made assumptions on the influence of intermediate representations design on user navigation. We built test material from an extract of the Scan Express multi-scale map of the French IGN, between the existing maps at 1:25k and 1:100k scales. We thus produced four different versions of intermediate representations between these two maps, implementing our different hypotheses. This way, we highlighted the technical issues that we faced when producing intermediate representations. Finally, we conducted a controlled user study, asking 15 participants to perform a cartographic task on these different multi-scale maps, to evaluate our hypotheses
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Normand, Emmanuelle. "Spatial abilities of Wild Chimpanzees Pan troglodytes verus." Thesis, Bordeaux 2, 2010. http://www.theses.fr/2010BOR21678/document.
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Malgré la multiplicité des études démontrant le comportement fascinant des animaux dans leur milieu naturel, quelques domaines de recherches demeurent difficiles à aborder. Ainsi, l’étude de certains aspects cognitifs nécessite un certain contrôle sur l’environnement afin de dissocier les influences écologiques et sociales de l’implication cognitive ; par exemple la cognition spatiale incluant la mémoire spatiale, les mécanismes d’orientation spatiale, ainsi que leur implication dans la navigation, tel que par la planification. L’étude de la cognition spatiale des chimpanzés sauvages s’est déroulée dans le Parc national de Taï, une forêt tropicale dense où les ressources potentielles sont abondantes et réparties sur un territoire de 25 km², avec une visibilité d’environ 30 mètres. De plus, les chimpanzés vivent dans une société du type fission-fusion, impliquant de multiples relations sociales. Toutefois, l’enregistrement précis de la position et des activités des chimpanzés, ainsi qu’une carte botanique précise, nous a permis de dissocier les effets écologiques, sociaux et cognitifs afin de mieux comprendre les relations entre ces différents facteurs. Par cette étude, nous montrons que les chimpanzés ont développé un mécanisme permettant une navigation précise grâce à une carte Euclidienne contenant des informations sur la direction et la distances vers des ressources connues. Ce mécanisme est extrêmement adapté et efficace par la connaissance précise de la localisation de milliers de ressources dans leur habitat. Ces capacités permettent d’augmenter leur efficacité en sélectionnant les ressources les plus productives, en les planifiant à l’avance et, de manière plus avancée, en planifiant le parcours le plus court à travers ces différentes ressources durant la journée lorsque la pression sociale requière une meilleure précision dans le choix des ressources. Ces découvertes illustrent d’abord les capacités extraordinaires des chimpanzés, et deuxièmement que les aspects cognitifs peuvent être expliqués dans le milieu naturel des animauxWhereas numerous studies demonstrated fascinating behaviour of animals in their natural habitat, some important areas of research were difficult to tackle in the field. This is the case of many studies on cognitive aspects that required controlled environment to dissociate ecological and social influence from cognition. One of these important areas of research is the spatial cognition including spatial memory, spatial orientation mechanisms and the practical use of these abilities to travel efficiently, such as planning skills. This study on spatial cognition in wild chimpanzees took place in Taï National Park, a tropical dense forest where potential food resources are highly abundant in their 25 km² territory, and the visibility is approximately 30 meters. Adding to this complexity, chimpanzees live in a fission-fusion society, maintaining relationships with each other. Nevertheless, with a precise recording of chimpanzee’s location and activities and a precise botanic map of the territory, we were able to dissociate the ecological, social and cognitive effects and understand some relationships between these factors. Here, we showed that wild chimpanzees developed a precise mechanism to navigate efficiently in their large area using a Euclidean map containing accurate information about direction and distance to the known resources. This mechanism is highly adapted and efficient as the chimpanzees have a precise knowledge of the resources location in their area, remembering the location of thousand trees location. These highly developed abilities allowed them to increase their efficiency by selecting the most productive resources, planning them in advanced and on a higher level to plan the shortest path through these major resources during the day when the social pressure induce a higher precision in resource selection. These findings highlight first the outstanding spatial abilities of wild chimpanzees and second that cognition can be better explained in animals’ natural complex environment
Trotz zahlreicher Studien, die das faszinierende Verhalten von Wildtieren in ihrer natürlichen Umwelt dokumentieren, bleiben einige Studienfelder schwer erfassbar. So ist zum Beispiel bei der Erforschung von bestimmten kognitiven Aspekten die Rücksichtnahme auf den Umweltfaktor erforderlich, damit Umwelt- und Sozialeinfluss von den kognitiven Faktoren unterschieden werden können. Zu diesen Untersuchungsfeldern gehört die Raumkognition, welche das Raumgedächtnis, die Mechanismen der Raumorientierung sowie deren effizientes Nutzen durch die Schimpansen, z.B. durch ihre Fähigkeit zum Planen, einschließt. Die vorgestellte Studie über Raumkognition bei wild lebenden Schimpansen wurde im Nationalpark von Tai durchgeführt, das heißt, in einem dichten tropischen Wald, wo potentielle Ressourcen bei einer Sichtweite von ungefähr 30 Metern auf einem 25 qm großen Areal reichlich verteilt sind. Hinzu kommt, dass Schimpansen in einer Fission-Fusion Gesellschaftsstruktur leben, die vielfache soziale Beziehungen fördern. Jedoch, mit einer genauen Registrierung der räumlichen Lage und der Aktivitäten der Schimpansen und anhand einer präzisen botanischen Karte des Gebiets, konnten wir die Umwelt-, Sozial- und kognitiven Effekte gegeneinander abgrenzen und somit die zwischen diesen unterschiedlichen Faktoren bestehenden Beziehungen erfassen. In dieser Studie zeigen wir, dass Schimpansen einen besonderen Mechanismus zur Raumorientierung auf ihrem Gebiet entwickelt haben. Dabei verfügen sie über eine euklidische Mind-Karte mit präzisen Informationen über Richtungen und Entfernungen zu den bekannten Ressourcen. Durch ein genaues Wissen über die Verteilung der Nahrungsressourcen auf ihrem Gebiet ist dieser Mechanismus hoch effizient. Dank dieser Fähigkeiten werden Schimpansen immer effizienter, indem sie die ergiebigsten Ressourcen auswählen, dabei planende Fähigkeiten einsetzen und weiterhin indem sie an einem Tag die kürzeste Strecke zu den verschiedenen Ressourcen ausmachen, wenn der soziale Druck höchste Präzision in der Wahl der Nahrungsressourcen erfordert. Diese Erkenntnisse erhellen zuallererst die außergewöhnlichen Fähigkeiten der wild lebenden Schimpansen und beweisen, dass sich kognitive Mechanismen bei wild lebenden Tieren in ihrer natürlichen Umwelt besser erklären lassen
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Fri, Johannes. "Path Prediction for a Night Vision System." Thesis, Linköpings universitet, Reglerteknik, 2011. http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-68895.
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In modern cars, advanced driver assistance systems are used to aid the driver and increase the automobile safety. An example of such a system is the night vision system designed to detect and warn for pedestrians in danger of being hit by the car. To determine if a warning should be given when a pedestrian is detected, the system requires a prediction of the future path of the car for up to four seconds ahead in time. In this master's thesis, a new path prediction algorithm based on satellite positioning and a digital map database has been developed. The algorithm uses an extended Kalman filter to get an accurate estimate of the current position and heading direction of the car. The estimate is then matched to a position in the map database and the possible future paths of the vehicle are predicted using the road network. The performance of the path prediction algorithm has been evaluated on recorded night vision sequences corresponding to 15 hours of driving. The results show that map-based path prediction algorithms are superior to dead-reckoning methods for longer time horizons. It has also been investigated whether vision-based lane detection and tracking can be used to improve the path prediction. A prediction method using lane markings has been implemented and evaluated on recorded sequences. Based on the results, the conclusion is that lane detection can be used to support a path prediction system when lane markings are clearly visible.
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DeGirolamo, Gregory J. "Impact of Sequence and Cognitive Aging On Spatial Learning From Ground Level and Aerial Perspectives." Cleveland State University / OhioLINK, 2012. http://rave.ohiolink.edu/etdc/view?acc_num=csu1336103643.
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