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Nithid Mahattanasin. Improving relocalization in visual SLAM by using Object Detection. Master's Degree(Artificial Intelligence and Internet of Things). Kasetsart University. Office of the University Library. : Kasetsart University, 2022.
Improving relocalization in visual SLAM by using Object Detection
Name: Nithid Mahattanasin
Classification :.LCCS: TK5103.4895
LCSH:
Wireless localization
LCSH:
Computer vision
LCSH:
Sensor networks
LCSH:
Mobile robots
Abstract:
Visual simultaneous localization and mapping (VSLAM) is the useful algorithm for localizing and mapping especially for the indoor mobile robot application. The VSLAM works based on features extracted from surrounding images. The limitation of VSLAM is that a speed of its relocalization algorithm is slow due to a large number of candidates. This research aims to improve the relocalization of VSLAM by using semantic information as a new constraint to determine candidates. The basic idea is to use a deep neural network which is YOLO, to classify objects from an image frame and create a high-level feature array to represent objects in the frame. By using this array, the algorithm can discard many poor candidates and decrease the computation time of the relocalization process. The proposed approach was implemented into the 3 popular VSLAM frameworks which are ORB-SLAM2, OpenVSLAM and RTAB-MAP. Experiments have been conducted on a pre-record video with known ground truth. The results showed that by using the proposed approach, the execution time of the relocalization process was decreased for all selected VSLAM frameworks.
Kasetsart University. Office of the University Library
Address:
Bangkok
Email:
tdckulib@ku.ac.th
Name: Kanjanapan Sukvichai
Role:
Thesis Advisor
Name: Tsuyoshi Isshiki
Role:
Thesis CO-Advisor
Name: Pished Bunnun
Role:
Thesis CO-Advisor
Created:
2022
Modified:
2025-07-23
Issued:
2025-07-23
วิทยานิพนธ์/Thesis
application/pdf
URL: https://www.lib.ku.ac.th/KUthesis/2565/nithid-man-all.pdf
CallNumber:
TK5103.4895 .N58
eng
DegreeName: Master of Engineering
Level: Master's Degree
Descipline: Artificial Intelligence and Internet of Things
Grantor: Kasetsart University
©copyrights Kasetsart University
RightsAccess:
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0.04771 วินาที
Nithid Mahattanasin
| Title | Contributor | Type |
|---|---|---|
| Improving relocalization in visual SLAM by using Object Detection
มหาวิทยาลัยเกษตรศาสตร์ Nithid Mahattanasin | Kanjanapan Sukvichai | วิทยานิพนธ์/Thesis |
Kanjanapan Sukvichai
Tsuyoshi Isshiki
| Title | Creator | Type and Date Create |
|---|---|---|
| A super-resolution land cover mapping based on a random forest and markov random field model
มหาวิทยาลัยเกษตรศาสตร์ Teerasit Kasetkasem;Thitiporn Chanwimaluang;Tsuyoshi Isshiki;Preesan Rakwatin | Manatsawee Sanpayao | วิทยานิพนธ์/Thesis |
| Pipeline direction extraction algorithm using level set method
มหาวิทยาลัยเกษตรศาสตร์ Teerasit Kasetkasem;Yodyium Tipsuwan;Tsuyoshi Isshiki;Thitiporn Chanwimaluang | Apinya Leangaramkul | วิทยานิพนธ์/Thesis |
Pished Bunnun
| Title | Creator | Type and Date Create |
|---|---|---|
| A method of face tracking using dominant orientation template and pose estimation
มหาวิทยาลัยเกษตรศาสตร์ Teerasit Kasetkasem;Pished Bunnun;Akinori Nishihara | Pidshapar Keerekaew | วิทยานิพนธ์/Thesis |