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dc.contributor.authorJones, Brandonen_US
dc.date.accessioned2013-09-16T16:37:49Z
dc.date.available2013-09-16T16:37:49Z
dc.date.issued2013-08-19en_US
dc.identifier.otherbibid: 8267055
dc.identifier.urihttps://hdl.handle.net/1813/34153
dc.description.abstractIn the absence of a global frame of reference, the ability to fuse data collected by multiple mobile agents that operate in separate coordinate systems is critical for enabling autonomy in multi-agent navigation and perception systems. Of particular interest is the ability to fuse rigid body metric environment models in order to construct a global model from the data collected by each agent. This thesis presents a data fusion approach for combining Gaussian metric models of an environment constructed by multiple agents that operate outside of a global reference frame. Common landmarks are combined using a nonlinear least squares approximation, which yields an exact solution under the assumption of isotropic covariance. Rigid body transform parameters and common landmarks are found using a hypergraph registration approach. The approach demonstrates a robustness to outliers in registration by incorporating unit quaternions to reject outliers on a unit sphere. The performance of the approach is evaluated using experimental benchmark datasets collected in natural and semi-structured environments with camera and laser sensors.en_US
dc.language.isoen_USen_US
dc.titleMaximum Likelihood Fusion Modelsen_US
dc.typedissertation or thesisen_US
thesis.degree.disciplineElectrical Engineering
thesis.degree.grantorCornell Universityen_US
thesis.degree.levelDoctor of Philosophy
thesis.degree.namePh. D., Electrical Engineering
dc.contributor.chairTong, Langen_US
dc.contributor.committeeMemberJohnson Jr, Charles R.en_US
dc.contributor.committeeMemberCampbell, Marken_US


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