mdh.sePublications
Change search
CiteExportLink to record
Permanent link

Direct link
Cite
Citation style
  • apa
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf
Monocular visual SLAM based on Inverse depth parametrization
Mälardalen University, School of Innovation, Design and Engineering. (ISS Robotics Group)
2010 (English)Independent thesis Advanced level (degree of Master (Two Years)), 20 credits / 30 HE creditsStudent thesis
Abstract [en]

The first objective of this research has always been carry out a study of visual techniques SLAM (Simultaneous localization and mapping), specifically the type monovisual, less studied than the stereo. These techniques have been well studied in the world of robotics. These techniques are focused on reconstruct a map of the robot enviroment while maintaining its position information in that map. We chose to investigate a method to encode the points by the inverse of its depth, from the first time that the feature was observed. This method permits efficient and accurate representation of uncertainty during undelayed initialization and beyond, all within the standard extended Kalman filter (EKF).At first, the study mentioned it should be consolidated developing an application that implements this method. After suffering various difficulties, it was decided to make use of a platform developed by the same author of Slam method mentioned in MATLAB. Until then it had developed the tasks of calibration, feature extraction and matching. From that point, that application was adapted to the characteristics of our camera and our video to work. We recorded a video with our camera following a known trajectory to check the calculated path shown in the application. Corroborating works and studying the limitations and advantages of this method.

Place, publisher, year, edition, pages
2010. , 41 p.
Keyword [en]
visual SLAM Kalman
National Category
Other Electrical Engineering, Electronic Engineering, Information Engineering
Identifiers
URN: urn:nbn:se:mdh:diva-10166OAI: oai:DiVA.org:mdh-10166DiVA: diva2:344642
Presentation
2010-06-11, BETA, 17:41 (English)
Uppsok
Technology
Supervisors
Examiners
Available from: 2010-08-20 Created: 2010-08-19 Last updated: 2010-08-20Bibliographically approved

Open Access in DiVA

fulltext(4667 kB)2367 downloads
File information
File name FULLTEXT01.pdfFile size 4667 kBChecksum SHA-512
4fedb6fa7312e6d2395104b48f398912fba38f56fa8c5a9ddc7a2cadabe9bdd16cd52831df7ad0e686ed39f155f098c118d840e25e91f5ed0d43844a20b1aa58
Type fulltextMimetype application/pdf

Search in DiVA

By author/editor
Rivero Pindado, Víctor
By organisation
School of Innovation, Design and Engineering
Other Electrical Engineering, Electronic Engineering, Information Engineering

Search outside of DiVA

GoogleGoogle Scholar
Total: 2367 downloads
The number of downloads is the sum of all downloads of full texts. It may include eg previous versions that are now no longer available

urn-nbn

Altmetric score

urn-nbn
Total: 131 hits
CiteExportLink to record
Permanent link

Direct link
Cite
Citation style
  • apa
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf