Sökning: "2D SLAM"

Visar resultat 1 - 5 av 15 uppsatser innehållade orden 2D SLAM.

  1. 1. ROS-based implementation of a model car with a LiDAR and camera setup

    Uppsats för yrkesexamina på avancerad nivå, Uppsala universitet/Signaler och system

    Författare :Marcus Nises; [2023]
    Nyckelord :LiDAR; ROS; stereoscopic camera; SLAM; Linux; rplidar a1; raspberry pi;

    Sammanfattning : The aim of this project is to implement a Radio Controlled (RC) car with a Light Detection and Ranging (LiDAR) sensor and a stereoscopic camera setup based on the Robot Operating System (ROS) to conduct Simultaneous Localization and Mapping (SLAM). The LiDAR sensor used is a 2D LiDAR, RPlidar A1, and the stereoscopic camera setup is made of two monocular cameras, Raspberry Pi Camera v2. LÄS MER

  3. 2. Camera Calibration for Zone Positioning and 2D-SLAM : Autonomous Warehouse Solutions for Toyota Material Handling

    Kandidat-uppsats, Linköpings universitet/Institutionen för systemteknik

    Författare :Benjamin Bolgakov; Anton Frank; [2023]
    Nyckelord :camera calibration; computer vision; SLAM; autonomous; navigation;

    Sammanfattning : The aim of this thesis is to investigate how well a generic monocular camera, placed on the vehicle, can be employed to localize an autonomous vehicle in a warehouse setting. The main function is to ascertain which zone the vehicle is currently in, as well as update the status when entering a new zone. LÄS MER

  4. 3. Pixel correspondences for SLAM using sidescan sonar with canonical representations

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

    Författare :Weiqi Xu; [2022]
    Nyckelord :;

    Sammanfattning : Acoustic instruments play an important role in autonomous underwater vehicles (AUVs). Sidescan sonar (SSS) detects a wider range, provides photo-realistic images in high resolution, and has lower price than the multibeam echo sounder (MBES). LÄS MER

  5. 4. AUV SLAM constraint formation using side scan sonar

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

    Författare :Marco Schouten; [2022]
    Nyckelord :AUV; Side Scan Sonar; Pose Estimation; SLAM; Optimisation; AUV; Side Scan Sonar; Pose Estimation; SLAM; Optimisation;

    Sammanfattning : Autonomous underwater vehicle (AUV) navigation has been a challenging problem for a long time. Navigation is challenging due to the drift present in underwater environments and the lack of precise localisation systems such as GPS. Therefore, the uncertainty of the vehicle’s pose grows with the mission’s duration. LÄS MER

  7. 5. 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