Sökning: "Anchit Raghuram"

Hittade 1 uppsats innehållade orden Anchit Raghuram.

1. 1. 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