Semantic-Enriched 3D Mapping using Multi-Modal Sensor Fusion and SLAM for Autonomous Inland Waterway Navigation

Kurian, Ashwin (2025) Semantic-Enriched 3D Mapping using Multi-Modal Sensor Fusion and SLAM for Autonomous Inland Waterway Navigation. Master's, RWTH Achen.

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Item URL in elib:

https://elib.dlr.de/223422/

Document Type:

Thesis (Master's)

Title:

Semantic-Enriched 3D Mapping using Multi-Modal Sensor Fusion and SLAM for Autonomous Inland Waterway Navigation

Authors:

Authors	Institution or Email of Authors	Author's ORCID iD	ORCID Put Code
Kurian, Ashwin	josephashwinkurian (at) gmail.com	https://orcid.org/0009-0006-8319-186X	UNSPECIFIED

DLR Supervisors:

Contribution	DLR Supervisor	Institution or E-Mail	DLR Supervisor's ORCID iD
Thesis advisor	Filip, Iulian	iulian.filip (at) dlr.de	https://orcid.org/0009-0006-4037-691X

Date:

23 June 2025

Journal or Publication Title:

Semantic-Enriched 3D Mapping using Multi-Modal Sensor Fusion and SLAM for Autonomous Inland Waterway Navigation

Open Access:

Number of Pages:

106

Status:

Published

Keywords:

Inland Waterways, Semantic Segmentation, Mapping, LiDAR, Camera, Sensor Fusion

Institution:

RWTH Achen

Department:

Institute of Mechanism Theory, Machine Dynamics and Robotics

HGF - Research field:

Aeronautics, Space and Transport

HGF - Program:

Transport

HGF - Program Themes:

Transport System

DLR - Research area:

Transport

DLR - Program:

V VS - Verkehrssystem

DLR - Research theme (Project):

V - FuturePorts

Location:

Neustrelitz

Institutes and Institutions:

Institute of Communication and Navigation > Nautical Systems

Deposited By:

Filip, Iulian

Deposited On:

16 Mar 2026 15:24

Last Modified:

30 Jul 2026 08:31

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