Simultaneous localisation and image fusion for robotic explorations

The goal of this project is to contribute to the development of autonomous robotic systems for robotic exploration of unstructured environments that yields a map useful for both robot localisation and human perception. Such robotic systems can provide a remote sensing capability to the operators over the potentially hazardous areas, while performing precise localisation without relying on landmark features or global positioning system. By developing a probabilistic framework for image-based mapping and its integration with inertial navigation system (INS), this project will contribute to the key enabling technologies for autonomous robotic systems.