Blar i NTNU Open på forfatter "Leonardi, Marco"
-
Autonomous Navigation, Mapping, and Exploration for Underwater Robots
Engebretsen, Marcus Aleksander; Gjerden, Kjetil Skogstrand; Utbjoe, Øystein Barth; Våge, Andreas (Master thesis, 2019)Denne masteroppgaven legger frem, og implementerer, en arkitektur for et autonomt system som er i stand til kontektsbasert resonnering under inspeksjonsoppdrag utført med ubemannede undervannsfartøy. For å forenkle design- ... -
Autonomous Navigation, Mapping, and Exploration for Underwater Robots
Engebretsen, Marcus Aleksander; Gjerden, Kjetil Skogstrand; Utbjoe, Øystein Barth; Våge, Andreas (Master thesis, 2019)Denne masteroppgaven legger frem, og implementerer, en arkitektur for et autonomt system som er i stand til kontektsbasert resonnering under inspeksjonsoppdrag utført med ubemannede undervannsfartøy. For å forenkle design- ... -
Autonomous Navigation, Mapping, and Exploration for Underwater Robots
Engebretsen, Marcus Aleksander; Gjerden, Kjetil Skogstrand; Utbjoe, Øystein Barth; Våge, Andreas (Master thesis, 2019)Denne masteroppgaven legger frem, og implementerer, en arkitektur for et autonomt system som er i stand til kontektsbasert resonnering under inspeksjonsoppdrag utført med ubemannede undervannsfartøy. For å forenkle design- ... -
Convolutional Autoencoder aided loop closure detection for monocular SLAM
Leonardi, Marco; Stahl, Annette (Chapter, 2018)A correct loop closure detection is an important component of a robust SLAM (simultaneous localization and mapping) system. Loop closing refers to the process of correctly asserting that a mobile robot has returned to a ... -
Deep learning based keypoint rejection system for underwater visual ego-motion estimation
Leonardi, Marco; Fiori, Luca; Stahl, Annette (Peer reviewed; Journal article, 2020)Most visual odometry (VO) and visual simultaneous localization and mapping (VSLAM) systems rely heavily on robust keypoint detection and matching. With regards to images taken in the underwater environment, phenomena like ... -
Designing and Improving Techniques f or Underwater Visual SLAM and Obstacle Avoidance
Leonardi, Marco (Doctoral theses at NTNU;2023:146, Doctoral thesis, 2023)This thesis focuses on designing and improving techniques for visual simultaneous localization and mapping (Visual SLAM or VSLAM) and obstacle avoidance, in the underwater environment. From the perspective of underwater ... -
UVS: Underwater Visual SLAM - A Robust Monocular Visual SLAM System for Lifelong Underwater Operations
Leonardi, Marco; Ludvigsen, Martin; Stahl, Annette; Brekke, Edmund Førland (Journal article; Peer reviewed, 2023) -
Vision based obstacle avoidance and motion tracking for autonomous behaviors in underwater vehicles
Leonardi, Marco; Stahl, Annette (Chapter, 2017)