Morphogenesis of Emerging Settlements: Mapping Incremental Urbanism

Incremental replanning for mapping

Incremental heuristic search methods can often replan paths much faster than incremental or heuristic search methods individually, yet are simple to use. So far, they have only been used in mobile robotics to move a robot to given goal coordinates in unknown terrain. As far as we know, incremental heuristic search methods have not yet been applied to the problem of mapping unknown terrain. In t...

Incremental Smoothing and Mapping

iv In memory of my mother. v vi ACKNOWLEDGEMENTS I am deeply grateful to Frank Dellaert for being a patient advisor and for keeping me focused in my research. Without his ideas, his insistence on creating helpful visualizations, his feedback on academic writing and, not least his providing of funding, this work would simply not have been possible. I would also like to thank Ron Arkin for suppor...

Mapping and Characterizing Global-Scale Human Settlements Using HPC

Spatiotemporal analytics derived from large-scale analysis of satellite imagery is a key component in the models used for global population mapping, risk analysis, and critical infrastructure assessment. Making informed national-level decisions based on image derived analytics require processing petabytes of high resolution satellite image data. The computational process often involves extracti...

Incremental Multiagent Robotic Mapping of Outdoor Terrains

Incremental mapping of large cyclic environments

Mobile robots can use geometric or topological maps of their environment to navigate reliably. Automatic creation of such maps is still an unrealized goal, especially in environments that have large cyclical structures. Drawing on recent techniques of global registration and correlation, we present a method, called Local Registration and Global Correlation (LRGC), for reliable reconstruction of...