Sökning: "GTSAM"

Hittade 4 uppsatser innehållade ordet GTSAM.

  1. 1. Visual-Inertial SLAM Using a Monocular Camera and Detailed Map Data

    Master-uppsats, Linköpings universitet/Reglerteknik

    Författare :Viktor Ekström; Ludvig Berglund; [2023]
    Nyckelord :SLAM; localisation; monocular camera; GTSAM; factor graphs; iSAM2;

    Sammanfattning : The most commonly used localisation methods, such as GPS, rely on external signals to generate an estimate of the location. There is a need of systems which are independent of external signals in order to increase the robustness of the localisation capabilities. LÄS MER

  3. 2. A Modular Multi-Robot Graph SLAM system for Indoor Environments

    Master-uppsats, KTH/Maskinkonstruktion (Inst.)

    Författare :Qizhen Lyu; [2022]
    Nyckelord :;

    Sammanfattning : Robots are playing an increasingly essential role in modern industry. SLAM (Simultaneous Localization and Mapping) is one of the critical technologies for robot to understand the environment and improve the automation level. In addition, multi-robot cooperation is becoming an interesting aspect to boost the efficiency of using robots. LÄS MER

  4. 3. Lidar-based SLAM : Investigation of environmental changes and use of road-edges for improved positioning

    Master-uppsats, Linköpings universitet/Reglerteknik

    Författare :Oskar Karlsson; [2020]
    Nyckelord :lidar-slam; environmental; road-edges; gtsam; isam; evaluation; road-edge detector; ros; robot operating system; weather; rain; snow; rosnodes; slam; imu; ekf; extended kalmar filter; evaluation measures;

    Sammanfattning : The ability to position yourself and map the surroundings is an important aspect for both civilian and military applications. Global navigation satellite systems are very popular and are widely used for positioning. This kind of system is however quite easy to disturb and therefore lacks robustness. LÄS MER

  5. 4. Smoothing and Mapping of an Unmanned Aerial Vehicle Using Ultra-wideband Sensors

    Master-uppsats, KTH/Reglerteknik

    Författare :Erik Strömberg; [2017]
    Nyckelord :;

    Sammanfattning : Unmanned Aerial Vehicles (UAV), in particular the four-rotor quadrotor, aregaining wide popularity in research as well as in commercial and hobbyist applications.Maneuvrability, low cost, and small size make quadrotors an attractiveoption to full-scale, manned helicopters while opening up new possibilities. LÄS MER