{"id":"W6988012897","doi":"","title":"Vision-aided Inertial System for Near-real-time Positioning and Navigation of Unmanned Ground Survey Vehicles in GNSS-denied Environments","year":2020,"lang":"en","type":"dissertation","venue":"QSpace (Queen's University Library)","topic":"Robotics and Sensor-Based Localization","field":"Engineering","cited_by":0,"is_retracted":false,"has_abstract":true,"ca_institutions":"","funders":"","keywords":"Inertial navigation system; Heading (navigation); GNSS applications; Sensor fusion; Inertial measurement unit; Visual odometry; Odometry; Kalman filter; Dead reckoning; Air navigation","routes":{"ca_aff":false,"ca_fund":false,"ca_venue":false,"about_ca":true,"invisible_to_affiliation_only":true},"retraction":null,"screen":null,"direct_labels":[],"prediction":{"model_version":"codex-gemma-dda1882f352a","candidate_categories":["metaepi_narrow"],"consensus_categories":[],"category_scores_codex":[0.00005619075,0.0002567848,0.0003963943,0.00020884,0.0001179028,0.00008040313,0.0001402278,0.0003030579,0.00001022917],"category_scores_gemma":[0.00001279399,0.0003316432,0.00007429794,0.0003113827,0.00003417907,0.0005871933,0.00003163436,0.0001610347,0.000005382391],"about_ca_system_candidate":false,"about_ca_system_consensus":false,"about_ca_system_score_codex":0.0001356891,"about_ca_system_score_gemma":0.00005007072,"about_ca_topic_candidate":false,"about_ca_topic_consensus":false,"about_ca_topic_score_codex":0.002158144,"about_ca_topic_score_gemma":0.00006052427,"domain_scores_codex":[0.9989117,0.0001268918,0.0002682809,0.000312296,0.0001908105,0.000190014],"domain_scores_gemma":[0.999423,0.0001414911,0.0001595367,0.0001477896,0.00002740745,0.000100755],"domain_codex":null,"domain_gemma":null,"domain_candidate":null,"domain_consensus":null,"study_design_codex":"simulation_or_modeling","study_design_gemma":"observational","study_design_scores_codex":[0.006749514,0.000456103,0.03657923,0.01275608,0.001185795,0.0003425122,0.009860965,0.8595568,0.04960828,0.005904146,0.01550237,0.001498229],"study_design_scores_gemma":[0.007695405,0.0009649523,0.4659349,0.004498627,0.0006006235,0.000001218515,0.00571005,0.4460897,0.06387866,0.000159777,0.001761815,0.002704295],"study_design_candidate":"simulation_or_modeling","study_design_consensus":null,"genre_codex":"empirical","genre_gemma":"empirical","genre_scores_codex":[0.9964922,0.00001899059,0.001707681,0.0003173185,0.0001531018,0.0005631865,0.0001632869,0.0001660548,0.0004181452],"genre_scores_gemma":[0.9868504,0.0001078341,0.001537728,0.0000055041,0.00002952844,0.000001819306,0.009380963,0.00007921727,0.002007019],"genre_candidate":"empirical","genre_consensus":"empirical","teacher_disagreement_score":0.4293556,"threshold_uncertainty_score":0.9999136,"prediction_status":"machine_predicted_unvalidated"},"machine_scores":{"provisional":true,"baseline":true,"maturity_gate_passed":false,"score_opus":0.00483440971639543,"score_gpt":0.1793776022733577,"score_spread":0.1745431925569622,"validation_status":"score_only:v0-immature-baseline","note":"Baseline scores from an immature model (maturity gate not passed). Scores rank; they never assert a category."}}