Essays about: "EKF-SLAM"

Showing result 1 - 5 of 10 essays containing the word EKF-SLAM.

  1. 1. Lidar-based SLAM : Investigation of environmental changes and use of road-edges for improved positioning

    University essay from Linköpings universitet/Reglerteknik

    Author : Oskar Karlsson; [2020]
    Keywords : lidar-slam; environmental; road-edges; gtsam; isam; evaluation; road-edge detector; ros; robot operating system; weather; rain; snow; rosnodes; slam; imu; ekf; extended kalmar filter; evaluation measures;

    Abstract : The ability to position yourself and map the surroundings is an important aspect for both civilian and military applications. Global navigation satellite systems are very popular and are widely used for positioning. This kind of system is however quite easy to disturb and therefore lacks robustness. READ MORE

  3. 2. A Novel SLAM Quality Evaluation Method

    University essay from KTH/Skolan för elektroteknik och datavetenskap (EECS)

    Author : Felix Caesar; [2019]
    Keywords : ;

    Abstract : Autonomous vehicles have grown into a hot topic in both research and industry. For a vehicle to be able to run autonomously, it needs several different types of systems to function properly. One of the most important of them is simultaneous localization and mapping (SLAM). READ MORE

  4. 3. Impact of Vehicle Dynamics Modelling on Feature Based SLAM for Autonomous Racing.

    University essay from KTH/Skolan för industriell teknik och management (ITM)

    Author : Hugo Skeppström Lehto; Richard Hedlund; [2019]
    Keywords : SLAM; EKF-SLAM; Localization; Estimation; Vehicle Dynamics; Kinematic Model; Dynamic Model; Autonomous Racing.;

    Abstract : In autonomous racing there is a need to accurately localize the vehicle while simultaneously creating a map of the track. This information can be delivered to planning and control layers in order to achieve fully autonomous racing. The kinematic model is a commonly used motion model in feature-based SLAM. READ MORE

  5. 4. A Comparison of Motion Priors for EKF-SLAM in Autonomous Race Cars

    University essay from KTH/Skolan för elektroteknik och datavetenskap (EECS)

    Author : Kristian Wahlqvist; [2019]
    Keywords : ;

    Abstract : Simultaneous Localization and Mapping (SLAM) is one of the fundamental problems to solve for any autonomous vehicle or robot. The SLAM problem is for an agent to incrementally build a map of its surroundings while keeping track of its location within the map, using various sensors. READ MORE

  6. 5. A study of EKF-SLAM for vehicle state estimation.

    University essay from KTH/Skolan för industriell teknik och management (ITM)

    Author : DOUGLAS LUNDGREN; [2019]
    Keywords : ;

    Abstract : Self driving vehicles consists of advanced Commercial-Off-The-Shelf components which are developed separately by different manufacturers and can introduce uncertainties to the system. To guarantee that the system meets the safety requirements is a complex task and it is important to test the performance of components beforehand. READ MORE