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Title: Improving The Applicability Of Visual SLAM With Submodular Submatrix Selection
Committee:
Dr. Patricio Vela, ECE, Chair , Advisor
Dr. Anthony Yezzi, ECE
Dr. Ghassan AlRegib, ECE
Dr. Frank Dellaert, IC
Dr. Yongkwon Cho, CEE
Abstract:
This thesis investigates the applicability of VSLAM on target applications in robotics and augmented reality (AR). The performance-efficiency trade-off of VSLAM is significantly improved by leveraging theorems on submodular submatrix selection. Multiple algorithmic components of modern VSLAM system are investigated and improved in this thesis, each of which pushed the applicability of VSLAM forward a little bit.
