Sökning: "graph slam"

Visar resultat 1 - 5 av 9 uppsatser innehållade orden graph slam.

  1. 1. Robust Graph SLAM in Challenging GNSS Environments Using Lidar Odometry

    Master-uppsats, Linköpings universitet/Reglerteknik

    Författare :Jesper Sundström; Alfred Åström; [2023]
    Nyckelord :graphslam; graph slam; graph; slam; automatic; control; robust; DCS; RRR; lidar odometry; gnss;

    Sammanfattning : Localization is a fundamental part of achieving fully autonomous vehicles. A localization system needs to constantly provide accurate information about the position of the vehicle and failure could lead to catastrophic consequences. 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. Map Partition and Loop Closure in a Factor Graph Based SAM System

    Master-uppsats, Linköpings universitet/Reglerteknik

    Författare :Emil Relfsson; [2020]
    Nyckelord :SAM; Factor graph; Map partition; Smoothing and Mapping; SLAM;

    Sammanfattning : The graph-based formulation of the navigation problem is establishing itself as one of the standard ways to formulate the navigation problem within the sensor fusion community. It enables a convenient way to access information from previous positions which can be used to enhance the estimate of the current position. LÄS MER

  5. 4. Acoustic-Inertial Forward-Scan Sonar Simultaneous Localization and Mapping

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

    Författare :Aldo Teran Espinoza; [2020]
    Nyckelord :;

    Sammanfattning : The increasing accessibility and versatility of forward-scan (FS) imaging sonars (also known as forward looking sonars or FLS) has spurred the interest of the robotics community seeking to solve the difficult problem of robotic perception in low-visibility underwater scenarios. Processing the incoming data from an imaging sonar is challenging, since it captures an acoustic 2D image of the 3D scene instead of providing straightforward range measurements like other sonar technologies do (e. LÄS MER

  7. 5. A Combined Approach for Object Recognition and Localisation for an Autonomous Racecar

    Master-uppsats, KTH/Maskinkonstruktion (Inst.)

    Författare :Jonathan Cressell; Isac Törnberg; [2018]
    Nyckelord :;

    Sammanfattning : With autonomous vehicles being a hot topic for research it has also become an interest in theworld of motor sport. To be able to run a vehicle autonomously it needs to know what the currentpose of the vehicle is and what the environment looks like. LÄS MER