Sökning: "graph-optimization"

Hittade 4 uppsatser innehållade ordet graph-optimization.

  1. 1. Server-side factor graph optimization for on-manifold pre-integration in IoT sensors

    Uppsats för yrkesexamina på avancerad nivå, Luleå tekniska universitet/Institutionen för system- och rymdteknik

    Författare :Samuel Gradén; [2023]
    Nyckelord :Edge computing; IoT; optimization; tracking; drone;

    Sammanfattning : State and specifically location estimation is a core concept in automation and is a well-researched field. One such estimation technique is Moving Horizon Estimation (MHE). In this thesis, the MHE variant single-shooting estimation will estimate the location and velocity of a moving object. LÄS MER

  3. 2. Estimating Relative Position and Orientation Based on UWB-IMU Fusion for Fixed Wing UAVs

    Master-uppsats, Linköpings universitet/Reglerteknik

    Författare :Daniel Sandvall; Eric Sevonius; [2023]
    Nyckelord :UWB; Relative positioning; Sensor fusion; UAV; Formation flight; Fixed wing; Relative localization; EKF; FGO;

    Sammanfattning : In recent years, the interest in flying multiple Unmanned Aerial Vehicles (UAVs) in formation has increased. One challenging aspect of achieving this is the relative positioning within the swarm. LÄS MER

  4. 3. 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

  5. 4. COMPARISON OF THE GRAPH-OPTIMIZATION FRAMEWORKS G2O AND SBA

    Master-uppsats, Mälardalens högskola/Akademin för innovation, design och teknik

    Författare :Henning Victorin; [2016]
    Nyckelord :SLAM; g2o; SBA; graph-optimization; new college; venice; mono-slam; VSLAM;

    Sammanfattning : This thesis starts with an introduction to Simulataneous Localization and Mapping (SLAM) and more background on Visual SLAM (VSLAM). The goal of VSLAM is to map the world with a camera, and at the same time localize the camera in that world. One important step is to optimize the acquired map, which can be done in several different ways. LÄS MER