02018cam a2200325 a 4500 EG-GiCUC 20250223032123.0 181126s2018 ua dh f m 000 0 eng d EG-GiCUC eng EG-GiCUC eng Deposite M.Sc Cai01.13.06.M.Sc.2018.Is.T Islam Alaa Eldin Mustafa Ali Towards A non-aided monocular visual odometry system / Islam Alaa Eldin Mustafa Ali ; Supervised Amr Galaleldin Ahmed Wassal نحو نظام رؤية أحادي لتحديد المسافات بدون مساعدة أخري Cairo : Islam Alaa Eldin Mustafa Ali , 2018 212 P. : charts , facsimiles ; 30cm Thesis (M.Sc.) - Cairo University - Faculty of Engineering - Department of Computer Engineering Recently, a huge attention is given to vision-based solutions in a wide range of applications including robotics, smart driving among others. One category of such solutions is visual odometry (VO), which is the process of estimating the complete body/camera pose using the images captured by the camera. In this thesis, previous e orts exerted in VO and its tuning are reviewed and criticized qualitatively. Moreover, a generic framework for testing, evaluating, and rapid prototyping of such systems is provided. Consequently, this framework is used to analyze the impact VO parameters on the pose estimation performance both from the accuracy point of view as well as the time complexity. Finally, a novel method for enhancing the performance of monocular VO is proposed with the intent of reaching a non-aided vision-based solution Issued also as CD Computer Vision Robots Vision Visual Odometry Amr Galaleldin Ahmed Wassal , Supervisor http://172.23.153.220/th.pdf Nazla Revisor Shimaa Cataloger ddc TH 68759 68759 ddc 0 CUCL cl210 2024-02-11 Cai01.13.06.M.Sc.2018.Is.T 01010110076441000 2023-09-22 00:00:00 TH ddc 0 CUCL cl2u8 2024-02-11 Cai01.13.06.M.Sc.2018.Is.T 01020110076441000 2023-09-22 00:00:00 76441.CD CD