Essays about: "Monocular Visual Odometry"

Showing result 1 - 5 of 16 essays containing the words Monocular Visual Odometry.

  1. 1. 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

  3. 2. ROS-based implementation of a model car with a LiDAR and camera setup

    University essay from Uppsala universitet/Signaler och system

    Author : Marcus Nises; [2023]
    Keywords : LiDAR; ROS; stereoscopic camera; SLAM; Linux; rplidar a1; raspberry pi;

    Abstract : The aim of this project is to implement a Radio Controlled (RC) car with a Light Detection and Ranging (LiDAR) sensor and a stereoscopic camera setup based on the Robot Operating System (ROS) to conduct Simultaneous Localization and Mapping (SLAM). The LiDAR sensor used is a 2D LiDAR, RPlidar A1, and the stereoscopic camera setup is made of two monocular cameras, Raspberry Pi Camera v2. READ MORE

  4. 3. Rolling shutter in feature-based Visual-SLAM : Robustness through rectification in a wearable and monocular context

    University essay from Uppsala universitet/Avdelningen för systemteknik

    Author : Caspar Norée Palm; [2023]
    Keywords : SLAM; rolling; shutter; rectification; ORB-SLAM3; monocular; camera; compensation; visual; odometry; simultaneous; localization; mapping;

    Abstract : 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. READ MORE

  5. 4. Robustness of State-of-the-Art Visual Odometry and SLAM Systems

    University essay from KTH/Tillämpad fysik

    Author : Cassandra Mannila; [2023]
    Keywords : Visual-Inertial Odometry; Visual Odometry; SLAM; Motion blur; ORB-SLAM3; DM-VIO; Robustness;

    Abstract : 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. READ MORE

  6. 5. Camera Calibration for Zone Positioning and 2D-SLAM : Autonomous Warehouse Solutions for Toyota Material Handling

    University essay from Linköpings universitet/Institutionen för systemteknik

    Author : Benjamin Bolgakov; Anton Frank; [2023]
    Keywords : camera calibration; computer vision; SLAM; autonomous; navigation;

    Abstract : The aim of this thesis is to investigate how well a generic monocular camera, placed on the vehicle, can be employed to localize an autonomous vehicle in a warehouse setting. The main function is to ascertain which zone the vehicle is currently in, as well as update the status when entering a new zone. READ MORE