Sökning: "Stereo visual odometry"

Visar resultat 1 - 5 av 9 uppsatser innehållade orden Stereo visual odometry.

  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. SLAM Hardware & Software optimization for mobile platform integration

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

    Författare :Louis Muffang; [2021]
    Nyckelord :;

    Sammanfattning : This thesis work will focus on the optimization of a state-of-the-art monocular Visual-Inertial Odometry (VIO) algorithm for real-time application with limited resources on an embedded system. We will be using a multi-processor unit equipped with a Digital Signal Processor (DSP) to accelerate and offload tasks from the CPU. LÄS MER

  4. 3. GPS-oscillation-robust Localization and Visionaided Odometry Estimation

    Master-uppsats, KTH/Maskinkonstruktion (Inst.)

    Författare :HONGYI CHEN; [2019]
    Nyckelord :Adaptive Extended Kalman Filter; Localization; Stereo visual odometry; GPS outage; Adaptivt förlängt Kalmanfilter; lokalisering; stereovisuell odometri; GPS avbrott;

    Sammanfattning : GPS/IMU integrated systems are commonly used for vehicle navigation. The algorithm for this coupled system is normally based on Kalman filter. However, oscillated GPS measurements in the urban environment can lead to localization divergence easily. LÄS MER

  5. 4. Improving a stereo-based visual odometry prototype with global optimization

    Uppsats för yrkesexamina på avancerad nivå, Uppsala universitet/Avdelningen för visuell information och interaktion

    Författare :Felix Verpers; [2019]
    Nyckelord :;

    Sammanfattning : In this degree project global optimization methods, for a previously developedsoftwareprototype of a stereo odometry system, were studied. The existing softwareestimatesthe motion between stereo frames and builds up a map of selected stereo frameswhich accumulates increasing error over time. LÄS MER

  7. 5. A Comparison of Motion Priors for EKF-SLAM in Autonomous Race Cars

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

    Författare :Kristian Wahlqvist; [2019]
    Nyckelord :;

    Sammanfattning : Simultaneous Localization and Mapping (SLAM) is one of the fundamental problems to solve for any autonomous vehicle or robot. The SLAM problem is for an agent to incrementally build a map of its surroundings while keeping track of its location within the map, using various sensors. LÄS MER