Sökning: "visual inertial odometry"

Visar resultat 1 - 5 av 12 uppsatser innehållade orden visual inertial odometry.

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. Doppler radar odometry for localization in difficult underground environment

   Uppsats för yrkesexamina på grundnivå, Örebro universitet/Institutionen för naturvetenskap och teknik

   Författare :Emil Fritz; Annika Nilsson; [2023]
   Nyckelord :SLAM; Localization; Mappers; Odometry; Drift; RIO; Radar; Lidar; IMU;

   Sammanfattning : Accurate and efficient localization is a fundamental requirement for autonomous operation of robots, especially in areas that deny global navigation services. Localization is even more challenging in environments that present visual and geographic difficulties. LÄS MER

4. 3. 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

5. 4. 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

7. 5. Probabilistic Multi-Modal Data Fusion and Precision Coordination for Autonomous Mobile Systems Navigation : A Predictive and Collaborative Approach to Visual-Inertial Odometry in Distributed Sensor Networks using Edge Nodes

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

   Författare :Isabella Luppi; [2023]
   Nyckelord :Distributed Sensor Networks; Point Cloud Processing; Bounding Box Fitting; Trajectory Tracking; Distributed Estimation; Predictive Estimation; Edge-Computing; Reti di Sensori Distribuiti; Elaborazione di Nuvole di Punti; Riquadri di Delimitazione; Tracciamento della Traiettoria; Stima Distribuita; Stima Predittiva; Calcolo Distribuito.; Distribuerade Sensornätverk; Bearbetning av Punktmoln; Anpassning av Begränsningsruta; Trajektorieuppföljning; Distribuerad Uppskattning; Prediktiv Uppskattning; Edge-datorbehandling;

   Sammanfattning : This research proposes a novel approach for improving autonomous mobile system navigation in dynamic and potentially occluded environments. The research introduces a tracking framework that combines data from stationary sensing units and on-board sensors, addressing challenges of computational efficiency, reliability, and scalability. LÄS MER