Date of Award
3-22-2019
Document Type
Thesis
Degree Name
Master of Science in Electrical Engineering
Department
Department of Electrical and Computer Engineering
First Advisor
Aaron J. Canciani, PhD
Abstract
This research proposes a method for enabling low-cost camera localization using geo-located images generated with factorgraph-based Simultaneous Localization And Mapping (SLAM). The SLAM results are paired with panoramic image data to generate geo-located images, which can be used to locate and orient low-cost cameras. This study determines the efficacy of using a spherical camera and LIDAR sensor to enable localization for a wide range of cameras with low size, weight, power, and cost. This includes determining the accuracy of SLAM when geo-referencing images, along with introducing a promising method for extracting range measurements from monocular images of known features.
AFIT Designator
AFIT-ENG-MS-19-M-009
DTIC Accession Number
AD1074427
Recommended Citation
Beargie, David W., "Assessment of Camera Pose Estimation Using Geo-Located Images from Simultaneous Localization and Mapping" (2019). Theses and Dissertations. 2245.
https://scholar.afit.edu/etd/2245