Ir al contenido (pulsa Retorno)

Universitat Politècnica de Catalunya

    • Català
    • Castellano
    • English
    • LoginRegisterLog in (no UPC users)
  • mailContact Us
  • world English 
    • Català
    • Castellano
    • English
  • userLogin   
      LoginRegisterLog in (no UPC users)

UPCommons. Global access to UPC knowledge

Banner header
76.434 UPC academic works
You are here:
View Item 
  •   DSpace Home
  • Treballs acadèmics
  • Màsters oficials
  • Màster universitari en Automàtica i Robòtica
  • View Item
  •   DSpace Home
  • Treballs acadèmics
  • Màsters oficials
  • Màster universitari en Automàtica i Robòtica
  • View Item
JavaScript is disabled for your browser. Some features of this site may not work without it.

Implementation of a Visual SLAM System

Thumbnail
View/Open
Implementation_of_a_Visual_SLAM_System_-_Jaime_Tarraso.pdf (1,429Mb)
  View UPCommons Usage Statistics
  LA Referencia / Recolecta stats
Includes usage data since 2022
Cita com:
hdl:2117/97673

Show full item record
Tarrasó Martínez, Jaime
Tutor / directorAndrade-Cetto, JuanMés informacióMés informacióMés informació; Solà Ortega, JoanMés informacióMés informacióMés informació
Document typeMaster thesis
Date2016-10-05
Rights accessOpen Access
Attribution-NonCommercial-NoDerivs 3.0 Spain
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.
SubjectsCartography, Cartografia
URIhttp://hdl.handle.net/2117/97673
Collections
  • Màsters oficials - Màster universitari en Automàtica i Robòtica [237]
  View UPCommons Usage Statistics

Show full item record

FilesDescriptionSizeFormatView
Implementation_ ... System_-_Jaime_Tarraso.pdf1,429MbPDFView/Open

Browse

This CollectionBy Issue DateAuthorsOther contributionsTitlesSubjectsThis repositoryCommunities & CollectionsBy Issue DateAuthorsOther contributionsTitlesSubjects

© UPC Obrir en finestra nova . Servei de Biblioteques, Publicacions i Arxius

info.biblioteques@upc.edu

  • About This Repository
  • Metadata under:Metadata under CC0
  • Contact Us
  • Send Feedback
  • Privacy Settings
  • Inici de la pàgina