Sökning: "Visual-inertial localization"

Visar resultat 1 - 5 av 12 uppsatser innehållade orden Visual-inertial localization.

1. 1. Rolling shutter in feature-based Visual-SLAM : Robustness through rectification in a wearable and monocular context

   Uppsats för yrkesexamina på avancerad nivå, Uppsala universitet/Avdelningen för systemteknik

   Författare :Caspar Norée Palm; [2023]
   Nyckelord :SLAM; rolling; shutter; rectification; ORB-SLAM3; monocular; camera; compensation; visual; odometry; simultaneous; localization; mapping;

   Sammanfattning : This thesis analyzes the impact of and implements compensation for rolling shutter distortions in the state-of-the-art feature-based visual SLAM system ORB-SLAM3. The compensation method involves rectifying the detected features, and the evaluation was conducted on the "Rolling-Shutter Visual-Inertial Odometry Dataset" from TUM, which comprises of ten sequences recorded with side-by-side synchronized global and rolling shutter cameras in a single room. LÄS MER

3. 2. Robustness of State-of-the-Art Visual Odometry and SLAM Systems

   Master-uppsats, KTH/Tillämpad fysik

   Författare :Cassandra Mannila; [2023]
   Nyckelord :Visual-Inertial Odometry; Visual Odometry; SLAM; Motion blur; ORB-SLAM3; DM-VIO; Robustness;

   Sammanfattning : Visual(-Inertial) Odometry (VIO) and Simultaneous Localization and Mapping (SLAM) are hot topics in Computer Vision today. These technologies have various applications, including robotics, autonomous driving, and virtual reality. They may also be valuable in studying human behavior and navigation through head-mounted visual systems. LÄS MER

4. 3. Implementation of Bolt Detection and Visual-Inertial Localization Algorithm for Tightening Tool on SoC FPGA

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

   Författare :Muhammad Ihsan Al Hafiz; [2023]
   Nyckelord :Bolt detection; Visual-Inertial localization; System-on-Chip SoC ; Field-Programmable Gate Array FPGA ; Machine learning; Perspective-n-Points; Error-State Extended Kalman Filter ESEKF ; High-Level Synthesis HLS ; YOLO; Tightening tool; Bultdetektering; visuell-tröghetslokalisering; System-on-Chip SoC ; Field-Programmable Gate Array FPGA ; Machine Learning; Perspective-n-Points; Error-State Extended Kalman Filter ESEKF ; High-Level Synthesis HLS ; YOLO; åtdragningsverktyg;

   Sammanfattning : With the emergence of Industry 4.0, there is a pronounced emphasis on the necessity for enhanced flexibility in assembly processes. In the domain of bolt-tightening, this transition is evident. Tools are now required to navigate a variety of bolts and unpredictable tightening methodologies. LÄS MER

5. 4. Modelling and Run-Time Control of Localization System for Resource-Constrained Devices

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

   Författare :Albin Mosskull; [2022]
   Nyckelord :Cross-layer optimization; Resource-constrained devices; Automatic hyperparameter tuning; Runtime control; Visual-inertial localization; Korsskiktsoptimering; Resursbegränsade enheter; Automatisk hyperparameterreglering; Körtidsreglering; Visuell-tröghets lokalisering;

   Sammanfattning : As resource-constrained autonomous vehicles are used for more and more applications, their ability to achieve the lowest possible localization error without expending more power than needed is crucial. Despite this, the parameter settings of the localization systems, both for the platform and the application, are often set arbitrarily. LÄS MER

7. 5. Runtime control for application failure prevention in resource-constrained devices

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

   Författare :Javier Albert Smet; [2022]
   Nyckelord :failure prevention; runtime control; resource-constrained devices; cross-layer optimization; felförebyggande; körtidskontroll; resursbegränsade enheter; optimering över flera lager;

   Sammanfattning : In the last decades, there has been a growing interest towards new use cases in the Internet of Things (IoT) domain, such as extended reality glasses, unmanned aerial vehicles (UAVs), and autonomous driving. The technological advancement observed in such scenarios has also been enabled by the increasing capabilities of small form factor devices. LÄS MER