SLAM in adverse weathers: robust modality and denoised conventional modality

• Main Author: Mo, Qingyu
• Other Authors: Wang Dan Wei
• Format: Thesis-Master by Coursework
• Language: English
• Published: Nanyang Technological University 2023
• Subjects: Engineering::Electrical and electronic engineering
• Online Access: https://hdl.handle.net/10356/168368
• Institution: Nanyang Technological University

This dissertation aims to alleviate negative influence that adverse weathers have on SLAM system by applying filters on traditional modality and adopting more robust modality, respectively. For robust modality, the modal fusion of thermal camera, LiDAR and IMU is found out to be the most robust and...