Sökning: "monocular slam"

Visar resultat 16 - 20 av 29 uppsatser innehållade orden monocular slam.

  1. 16. Monocular Depth Estimation Using Deep Convolutional Neural Networks

    Master-uppsats, Linköpings universitet/Datorseende

    Författare :Susanna Larsson; [2019]
    Nyckelord :Depth estimation; depth maps; monocular SLAM; mono-SLAM; pixelwise depth prediction; encoder-decoder network;

    Sammanfattning : For a long time stereo-cameras have been deployed in visual Simultaneous Localization And Mapping (SLAM) systems to gain 3D information. Even though stereo-cameras show good performance, the main disadvantage is the complex and expensive hardware setup it requires, which limits the use of the system. LÄS MER

  3. 17. Come on and SLAM: Analysis of the Impact of Field of View on Wide-Angle Cameras in SLAM

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

    Författare :Kevin Holdcroft; [2018]
    Nyckelord :;

    Sammanfattning : A commercially available camera, consisting of two separate 195 degree field of view fisheye lens cameras, is suggested for use in monocular SLAM. OpenCV’s fisheye camera model was corrected for viewing angles greater than 90 degrees and then implemented in ORB-SLAM2. LÄS MER

  4. 18. Real-Time Monocular SLAM System Using an Inertial Measurement Unit to Estimate the Metric Scale and Gravity Direction

    Master-uppsats, Lunds universitet/Matematik LTH

    Författare :Patrik Persson; [2018]
    Nyckelord :Computer vision; SLAM; sensor fusion; autonomous drones; Technology and Engineering; Mathematics and Statistics;

    Sammanfattning : In this work a simultaneous localisation and mapping system, SLAM, has been constructed which can incorporate inertial measurement unit, IMU, data such as accelerometer and gyroscope data to estimate the metric scale and the relationship to the gravity vector of the SLAM solution. The system can perform accurate pose predictions at 100Hz based on IMU data and previous camera poses. LÄS MER

  5. 19. In pursuit of consumer-accessible augmented virtuality

    Uppsats för yrkesexamina på avancerad nivå, KTH/Skolan för datavetenskap och kommunikation (CSC)

    Författare :Rasmus Berggrén; [2017]
    Nyckelord :virtual reality; VR; mixed reality; MR; augmented virtuality; AV; SLAM; SfM; interaction design; consumer-accessible; consumer-accessibility; smartphone; 3D reconstruction; shape reconstruction; positional tracking; computer vision; point cloud; Multi-View Stereo; MVS; Unity; Google Cardboard; feature detection;

    Sammanfattning : This project is an examination of the possibility of using existing software to develop Virtual Reality (VR) software that includes key aspects of objects in a user’s surroundings into a virtual environment, producing Augmented Virtuality (AV). A defining limitation is the requirement that the software be consumer-accessible, meaning it needs run on a common smartphone with no additional equipment. LÄS MER

  7. 20. Fusion of IMU and Monocular-SLAM in a Loosely Coupled EKF

    Master-uppsats, Linköpings universitet/Reglerteknik

    Författare :Fåhraeus Henrik; [2017]
    Nyckelord :loosely coupled EKF; monocular slam; calibration of camera and IMU; EKF; gravitation error;

    Sammanfattning : Camera based navigation is getting more and more popular and is the often the cornerstone in Augmented and Virtual Reality. However, navigation systems using camera are less accurate during fast movements and the systems are often resource intensive in terms of CPU and battery consumption. LÄS MER