Implementation of a Visual SLAM System

Cita com:
hdl:2117/97673
Document typeMaster thesis
Date2016-10-05
Rights accessOpen Access
This work is protected by the corresponding intellectual and industrial property rights.
Except where otherwise noted, its contents are licensed under a Creative Commons license
:
Attribution-NonCommercial-NoDerivs 3.0 Spain
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.
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Implementation_ ... System_-_Jaime_Tarraso.pdf | 1,429Mb | View/Open |