Sökning: "Pose Fusion"

Visar resultat 6 - 10 av 15 uppsatser innehållade orden Pose Fusion.

  1. 6. Acoustic-Inertial Forward-Scan Sonar Simultaneous Localization and Mapping

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

    Författare :Aldo Teran Espinoza; [2020]
    Nyckelord :;

    Sammanfattning : The increasing accessibility and versatility of forward-scan (FS) imaging sonars (also known as forward looking sonars or FLS) has spurred the interest of the robotics community seeking to solve the difficult problem of robotic perception in low-visibility underwater scenarios. Processing the incoming data from an imaging sonar is challenging, since it captures an acoustic 2D image of the 3D scene instead of providing straightforward range measurements like other sonar technologies do (e. LÄS MER

  3. 7. Robust Localization of Research Concept Vehicle (RCV) in Large Scale Environment

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

    Författare :Anchit Raghuram; [2018]
    Nyckelord :Localization; Normal Distribution Transform; Pose Fusion; MCL; Monte-Carlo Localization; GPS; Robust Localization; SLAM;

    Sammanfattning : Autonomous vehicles in the recent era are robust vehicles that have the capability to drive themselves without human involvement using sensors and Simultaneous Localization and Mapping algorithms, which helps the vehicle gain an understanding of its environment while driving with the help of laser scanners (Velodyne), IMU and GPS to collect data and solidify the foundation for locating itself in an unknown environment. Various methods were studied and have been tested for increasing the efficiency of registration and optimization over the years but the implementation of the NDT library for mapping and localization have been found to be fast and more accurate as compared to conventional methods. LÄS MER

  4. 8. Real-Time Monocular SLAM System Using an Inertial Measurement Unit to Estimate the Metric Scale and Gravity Direction

    Master-uppsats, Lunds universitet/Matematik LTH

    Författare :Patrik Persson; [2018]
    Nyckelord :Computer vision; SLAM; sensor fusion; autonomous drones; Technology and Engineering; Mathematics and Statistics;

    Sammanfattning : In this work a simultaneous localisation and mapping system, SLAM, has been constructed which can incorporate inertial measurement unit, IMU, data such as accelerometer and gyroscope data to estimate the metric scale and the relationship to the gravity vector of the SLAM solution. The system can perform accurate pose predictions at 100Hz based on IMU data and previous camera poses. LÄS MER

  5. 9. Visual-Inertial Odometry for Autonomous Ground Vehicles

    Master-uppsats, KTH/Skolan för datavetenskap och kommunikation (CSC)

    Författare :Akshay Kumar Burusa; [2017]
    Nyckelord :visual inertial odometry; sensor fusion; extended kalman filter; autonomous vehicle;

    Sammanfattning : Monocular cameras are prominently used for estimating motion of Unmanned Aerial Vehicles. With growing interest in autonomous vehicle technology, the use of monocular cameras in ground vehicles is on the rise. LÄS MER

  7. 10. Dempster Shafer Sensor Fusion for Autonomously Driving Vehicles : Association Free Tracking of Dynamic Objects

    Master-uppsats, KTH/Skolan för elektro- och systemteknik (EES)

    Författare :Andreas Högger; [2016]
    Nyckelord :;

    Sammanfattning : Autonomous driving vehicles introduce challenging research areas combining differ-ent disciplines. One challenge is the detection of obstacles with different sensors and the combination of information to generate a comprehensive representation of the environment, which can be used for path planning and decision making. LÄS MER