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Showing result 1 - 5 of 193 essays matching the above criteria.

  1. 1. Movement Estimation with SLAM through Multimodal Sensor Fusion

    University essay from Linköpings universitet/Medie- och Informationsteknik; Linköpings universitet/Tekniska fakulteten

    Author : Jimmy Cedervall Lamin; [2024]
    Keywords : slam; discrete-slam; continuous-slam; synchronous; asynchronous; computer vision; BRISK; opencv; ceres; visual; inertial; sensor fusion; multimodal; Simultaneous Localization and Mapping; time offset; pose estimation; quaternions; movement estimation;

    Abstract : In the field of robotics and self-navigation, Simultaneous Localization and Mapping (SLAM) is a technique crucial for estimating poses while concurrently creating a map of the environment. Robotics applications often rely on various sensors for pose estimation, including cameras, inertial measurement units (IMUs), and more. READ MORE

  3. 2. Performance metrics and velocity influence for point cloud registration in autonomous vehicles

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

    Author : Óscar Poveda Ruiz; [2023]
    Keywords : autonomous vehicle; localization; registration; metrics; error; classification; estimation; autonomt fordon; lokalisering; registrering; mätvärden; fel; klassificering; uppskattning;

    Abstract : Autonomous vehicles are currently under study and one of the critical parts is the localization of the vehicle in the environment. Different localization methods have been studied over the years, such as the GPS sensor, commonly fused with other sensors such as the IMU. READ MORE

  4. 3. Design and Implementation of a Rocket Launcher Hybrid Navigation

    University essay from KTH/Lättkonstruktioner, marina system, flyg- och rymdteknik, rörelsemekanik

    Author : Omar Ugolini; [2023]
    Keywords : launch vehicle navigation; delayed Kalman filter; strapdown; navigering av bärraketer; fördröjt Kalman-filter; strapdown;

    Abstract : Rocket Factory Augsburg (RFA) a German New Space Startup is developing a three-stage rocket launcher aiming at LEO/SSO orbits. A fundamental responsibility of the GNC team is the development of the rocket navigation algorithm to estimate the attitude, position, and velocity allowing the guidance and control loops to autonomously steer the rocket. READ MORE

  5. 4. Towards a feedback system for upper body bodyweight exercises using multiple inertial measurement units : A user-centred approach

    University essay from KTH/Medicinteknik och hälsosystem

    Author : Panagiota Papadopoulou; [2023]
    Keywords : IMU sensors; bodyweight training; machine learning; real-time feedback; push-ups; tricep dips; plank;

    Abstract : This thesis explores the feasibility of developing an affordable and easy-to-use feed- back system that leverages information from multiple inertial measurement units (IMUs) to identify mistakes during upper body bodyweight training and provide real-time feedback to the user. To develop the system, a human-centered approach was used, which involved conducting semi-structured interviews with movement ex- perts and a workshop with targeted end-users to understand their needs. READ MORE

  6. 5. Visual-Inertial SLAM Using a Monocular Camera and Detailed Map Data

    University essay from Linköpings universitet/Reglerteknik

    Author : Viktor Ekström; Ludvig Berglund; [2023]
    Keywords : SLAM; localisation; monocular camera; GTSAM; factor graphs; iSAM2;

    Abstract : 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. READ MORE