Sökning: "ORB-SLAM2"

Visar resultat 1 - 5 av 9 uppsatser innehållade ordet ORB-SLAM2.

  1. 1. Experiments with Visual Odometry for Hydrobatic Autonomous Underwater Vehicles

    Master-uppsats, KTH/Skolan för elektroteknik och datavetenskap (EECS)

    Författare :Somnath Balaji Suresh Kumar; [2023]
    Nyckelord :Hydrobatic AUVs; VO; Stonefish; ORB-SLAM2; VISO2; Hydrobatiska AUV:er; VO; Stonefish; ORB-SLAM2; VISO2;

    Sammanfattning : Hydrobatic Autonomous Underwater Vehicles (AUVs) are underactuated robots that can perform agile maneuvers in challenging underwater environments with high efficiency in speed and range. The challenge lies in localizing and navigating these AUVs particularly for performing manipulation tasks because common sensors such as GPS become very unreliable underwater due to their poor accuracy. LÄS MER

  3. 2. The Interconnectivity Between SLAM and Autonomous Exploration : Investigation Through Integration

    Master-uppsats, KTH/Skolan för elektroteknik och datavetenskap (EECS)

    Författare :Elliði Ívarsson; [2023]
    Nyckelord :SLAM; ORB-SLAM2; Autonomous exploration; UFOExplorer; Integration; SLAM; ORB-SLAM2; Autonom Utforskning; UFOExplorer; Integration;

    Sammanfattning : Two crucial functionalities of a fully autonomous robotic agent are localization and navigation. The problem of enabling an agent to localize itself in an unknown environment is an extensive and widely studied topic. One of the main areas of this topic focuses on Simultaneous Localization and Mapping (SLAM). LÄS MER

  4. 3. FPGA Implementation of Feature Matching in ORB-SLAM2

    Master-uppsats, Lunds universitet/Institutionen för elektro- och informationsteknik

    Författare :Hannah Lindström; [2022]
    Nyckelord :Autonomous navigation; SLAM; Feature matching; FPGA; ORB; Heterogeneous binary tree; Technology and Engineering;

    Sammanfattning : Simultaneous Localization And Mapping (SLAM) is an important component in solving the problem of autonomous navigation — allowing machines such as selfdriving cars and mobile robots to find their way in the world without human instruction. Though there is a steadily growing body of literature in the field of SLAM, far fewer works currently address using hardware acceleration to speed up this computationally heavy task. LÄS MER

  5. 4. Data association for object-based SLAM

    Master-uppsats, KTH/Skolan för elektroteknik och datavetenskap (EECS)

    Författare :Kamil Kaminski; [2021]
    Nyckelord :;

    Sammanfattning : The thesis tackles the problem of data association for monocular object-based SLAM, which gets often omitted in related works. A method for estimatingellipsoid object landmark representations is implemented. LÄS MER

  7. 5. Data association for object-based SLAM

    Master-uppsats, KTH/Skolan för elektroteknik och datavetenskap (EECS)

    Författare :Kamil Kaminski; [2020]
    Nyckelord :;

    Sammanfattning : The thesis tackles the problem of data association for monocular object-basedSLAM, which gets often omitted in related works. A method for estimating ellipsoid object landmark representations is implemented. LÄS MER