Implementation of a Visual SLAM System
Estadístiques de LA Referencia / Recolecta
Inclou dades d'ús des de 2022
Cita com:
hdl:2117/97673
Tipus de documentProjecte Final de Màster Oficial
Data2016-10-05
Condicions d'accésAccés obert
Llevat que s'hi indiqui el contrari, els
continguts d'aquesta obra estan subjectes a la llicència de Creative Commons
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Reconeixement-NoComercial-SenseObraDerivada 3.0 Espanya
Abstract
The goal of this project is to develop a system to compute the position and
orientation of an UAV using a monocular camera. To achieve that, the WOLF library will
be used. WOLF is a library thought to solve generalized simultaneous localization and
mapping (SLAM) and visual odometry problems. Derived classes will implement the
algorithms needed to track features from the images obtained through the sensors.
Constraints between the features and other features, or with landmarks, will be created to
form a factor graph. An external solver will iterate to find the optimal state, by
minimizing the cost associated to all the constraints. Ideally, our system can be used
together with an inertial model measuring rotational velocities and translational
accelerations, and tested with an unmanned aerial vehicle (UAV) in simulation and in
real.environments.
Col·leccions
Fitxers | Descripció | Mida | Format | Visualitza |
---|---|---|---|---|
Implementation_ ... System_-_Jaime_Tarraso.pdf | 1,429Mb | Visualitza/Obre |