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Robust and Optimal Methods for Geometric Sensor Data Alignment

Campbell, Dylan John

Description

Geometric sensor data alignment - the problem of finding the rigid transformation that correctly aligns two sets of sensor data without prior knowledge of how the data correspond - is a fundamental task in computer vision and robotics. It is inconvenient then that outliers and non-convexity are inherent to the problem and present significant challenges for alignment algorithms. Outliers are highly prevalent in sets of sensor data, particularly when the sets...[Show more]

CollectionsOpen Access Theses
Date published: 2018
Type: Thesis (PhD)
URI: http://hdl.handle.net/1885/148712
DOI: 10.25911/5d611fb32ba65

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