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SUMMARY:Олег Самойленко. Applied Mathematical Problems of Vi
 sual Objects Localization under Resource Constraints (Прикладнi м
 атематичнi задачi вiзуальної локалiзацiї 
 об’єктiв за умови обмежених ресурсiв) Фа
 ховий семінар -- доктор філософії
DTSTART;VALUE=DATE-TIME:20260709T090000Z
DTEND;VALUE=DATE-TIME:20260709T120000Z
DTSTAMP;VALUE=DATE-TIME:20260721T123900Z
UID:indico-event-2166@events.imath.kiev.ua
DESCRIPTION:The thesis addresses an applied mathematics problem at the int
 ersec- tion of computer vision\, image processing\, and robotics: the visu
 al local- ization of a mobile platform in environments where the Global Po
 sitioning System (GPS) is degraded or unavailable\, under the explicit res
 ource con- straints of onboard embedded hardware. Two research lines shape
  the practical setting: the extraction and geometric verification of visua
 l cor- respondences on the vision side\, and the recursive fusion of noisy
  sensor measurements on the state-estimation side\; the two have evolved l
 argely independently. The thesis treats them as a single problem of recurs
 ive state estimation for a planar mobile platform\, into which the quality
  of the visual matching enters as an adaptation signal that scales the mea
 sure- ment covariance. Feature detection\, matching\, and state estimation
  are required to run on CPU-only platforms\, so the accuracy of every meth
 od is quantified against its computational cost rather than in isolation.\
 n\nThe objective of the thesis is to develop a sensor-fusion framework for
  the localization of a planar mobile robot that combines wheel odometry an
 d GPS\, to extend it with a visual position observation derived from satel
 lite image matching whose measurement covariance is scaled by the matching
 - quality signal of the geometric-verification stage\, and to support this
  with a comparative study of classical and learned local feature descripto
 rs under explicit resource constraints.\n\n \n\nopic: Фаховий се
 мінар\, О.Самойленко\nTime: Jul 9\, 2026 12:00 Kyiv\nJoin 
 Zoom Meeting\n\nMeeting ID: 874 8076 4181\nPasscode: 213864\n\n \n\nhttps
 ://events.imath.kiev.ua/event/2166/
URL:https://events.imath.kiev.ua/event/2166/
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