MoonSLAM Reengineering - Revision history

MatteoMatteucci at 23:40, 21 December 2014

2014-12-21T23:40:29Z

MatteoMatteucci at 23:38, 21 December 2014

2014-12-21T23:38:19Z

MatteoMatteucci at 16:04, 16 April 2012

2012-04-16T16:04:04Z

MatteoMatteucci at 15:28, 16 April 2012

2012-04-16T15:28:55Z

MatteoMatteucci: Created page with "{{ProjectProposal |title=Reengineering of a flexible framework for simultaneous localization and mapping |image= |description=In the last three years a general framework for t..."

2012-04-16T15:25:16Z

Created page with "{{ProjectProposal |title=Reengineering of a flexible framework for simultaneous localization and mapping |image= |description=In the last three years a general framework for t..."

New page

{{ProjectProposal
|title=Reengineering of a flexible framework for simultaneous localization and mapping
|image=
|description=In the last three years a general framework for the implementation of EKF-SLAM algorithm has been developed at the AIRLab. After several improvements it is now time to redesign it based on the experience cumulated. The goal is to have an international reference framework for the development of EKF based SLAM algorithms with multiple sensors (e.g., lasers, odometers, inertial measurement ) and different motion models (e.g., free 6DoF motion, planar motion, ackerman kinematic, and do on). The basic idea is to implement it by using C++ templates, numerically stable techniques for Kalman filtering and investigation the use of automatic differentiation. It should be possible to seamlessly exchange motion model and sensor model without having to write code beside the motion model and the measurement equation.

'''Material'''
*lots of theoretical background and material
*an existing (and working) C++ implementation of the framework

'''Expected outcome:'''
*a C++ library for the implementation of generic EKF-SLAM algorithms

'''Required skills:'''
*Experienced C++ programming under Linux

|tutor=MatteoMatteucci
|start=2012/04/01
|studmin=1
|studmax=2
|cfumin=20
|cfumax=20
|resarea=Robotics
|restopic=none
|level=Ms
|type=Thesis
|status=Active
}}

@@ Line 14: / Line 14: @@
 *Experienced C++ programming under Linux
-|tutor=MatteoMatteucci;SimoneCeriani
+|tutor=MatteoMatteucci
 |start=2015/01/01
 |studmin=1

@@ Line 1: / Line 1: @@
 {{ProjectProposal
 |title=Reengineering of a flexible framework for simultaneous localization and mapping
-|image=
+|image=SofwareEingineer.jpg
 |description=In the last three years a general framework for the implementation of EKF-SLAM algorithm has been developed at the AIRLab. After several improvements it is now time to redesign it based on the experience cumulated.  The goal is to have an international reference framework for the development of EKF based SLAM algorithms with multiple sensors (e.g., lasers, odometers, inertial measurement ) and different motion models (e.g., free 6DoF motion, planar motion, ackerman kinematic, and do on). The basic idea is to implement it by using C++ templates, numerically stable techniques for Kalman filtering and investigation the use of automatic differentiation. It should be possible to seamlessly exchange motion model and sensor model without having to write code beside the motion model and the measurement equation.