Representations and Benchmarking of Modern Visual SLAM Systems

compactifications and representations of transformation semigroups

this thesis deals essentially (but not from all aspects) with the extension of the notion of semigroup compactification and the construction of a general theory of semitopological nonaffine (affine) transformation semigroup compactifications. it determines those compactification which are universal with respect to some algebric or topological properties. as an application of the theory, it is i...

SLAMBench2: Multi-Objective Head-to-Head Benchmarking for Visual SLAM

SLAM is becoming a key component of robotics and augmented reality (AR) systems. While a large number of SLAM algorithms have been presented, there has been little effort to unify the interface of such algorithms, or to perform a holistic comparison of their capabilities. This is a problem since different SLAM applications can have different functional and non-functional requirements. For examp...

Comparison of omnidirectional and conventional monocular systems for visual SLAM

The SLAM (Simultaneous Localization and Mapping) problem is one of the essentials challenges for the current robotics. Our main objective in this work is to perform a comparison between a visual SLAM system using monocular omnidirectional and conventional vision. Our approach is based on the Extended Kalman Filter (EKF). We use the Spherical Camera Model to obtain geometric information from the...

The case for visual-inertial SLAM over visual SLAM

Benchmarking Modern Multiprocessors

Benchmarking has become one of the most important methods for quantitative performance evaluation of processor and computer system designs. Benchmarking of modern multiprocessors such as chip multiprocessors is challenging because of their application domain, scalability and parallelism requirements. In my thesis, I have developed a methodology to design effective benchmark suites and demonstra...