Essays about: "Stereo visual odometry"

Showing result 1 - 5 of 9 essays containing the words Stereo visual odometry.

  1. 1. 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

  3. 2. SLAM Hardware & Software optimization for mobile platform integration

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

    Author : Louis Muffang; [2021]
    Keywords : ;

    Abstract : This thesis work will focus on the optimization of a state-of-the-art monocular Visual-Inertial Odometry (VIO) algorithm for real-time application with limited resources on an embedded system. We will be using a multi-processor unit equipped with a Digital Signal Processor (DSP) to accelerate and offload tasks from the CPU. READ MORE

  4. 3. GPS-oscillation-robust Localization and Visionaided Odometry Estimation

    University essay from KTH/Maskinkonstruktion (Inst.)

    Author : HONGYI CHEN; [2019]
    Keywords : Adaptive Extended Kalman Filter; Localization; Stereo visual odometry; GPS outage; Adaptivt förlängt Kalmanfilter; lokalisering; stereovisuell odometri; GPS avbrott;

    Abstract : GPS/IMU integrated systems are commonly used for vehicle navigation. The algorithm for this coupled system is normally based on Kalman filter. However, oscillated GPS measurements in the urban environment can lead to localization divergence easily. READ MORE

  5. 4. Improving a stereo-based visual odometry prototype with global optimization

    University essay from Uppsala universitet/Avdelningen för visuell information och interaktion

    Author : Felix Verpers; [2019]
    Keywords : ;

    Abstract : In this degree project global optimization methods, for a previously developedsoftwareprototype of a stereo odometry system, were studied. The existing softwareestimatesthe motion between stereo frames and builds up a map of selected stereo frameswhich accumulates increasing error over time. READ MORE

  6. 5. 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