Sökning: "iSAM2"

Hittade 3 uppsatser innehållade ordet iSAM2.

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. 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

4. 3. 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