Robocentric MoonSLAM
From AIRWiki
Title: | Robocentric implementation in the MoonSLAM framework |
Image:RobocentricSLAM.gif |
Description: | Simultaneous Localization and Mapping (SLAM) is one of the basic functionalities required from an autonomous robot. In the past we have developed a framework for building SLAM algorithm based on the use of the Extended Kalman Filter and vision sensors. The actual implementation of the EKF SLAM in the framework developed uses a world-centric approach, but from the literature it is known that a robocentric approach can provide higher performances on small maps. We would like to have both implementation to compare the results in two scenarios: pure visual odometry, conditional independent submapping.
Material
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Tutor: | MatteoMatteucci (matteo.matteucci@polimi.it), SimoneCeriani (ceriani@elet.polimi.it) | |
Start: | 2012/04/01 | |
Students: | 1 - 2 | |
CFU: | 20 - 20 | |
Research Area: | Robotics | |
Research Topic: | none | |
Level: | Ms | |
Type: | Thesis | |
Status: | Closed |