Summary: Uncertainty Minimization in
Robotic 3D Mapping Systems Operating
in Dynamic Large-Scale Environments
A Dissertation Presented for the
Doctor of Philosophy Degree
Imaging, Robotics, and Intelligent Systems Laboratory
The University of Tennessee, Knoxville
Sreenivas Rangan Sukumar
Before this document starts dwelling on technical details, I would like to express my gratefulness to the supporting
pillars of this dissertation work. I have to begin from where I began; my parents Mrs. Malathi Sukumar and Mr.
Chellappa Sukumar. They have always been there for me with all their love and affection whenever I needed them
emotionally, financially and every possible situation I imposed upon them. I owe them indefinite gratitude for their
contribution to my career and for stimulating the quest for knowledge from a very young age. They knew I dreamt
of being a scientist as a child, and today with the PhD degree, if I am closer to becoming one, it is because, I
dreamed and they made sure I had everything necessary to realize my dream.
Dr. Abidi took over as the parent in graduate school, fuelled my quest for knowledge, supporting me
technically and financially with the resources in the Imaging, Robotics and Intelligent Systems Lab. Dr.