Difference between revisions of "Scan Matching Odometry and Multisensor SLAM"

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(Created page with "{{ProjectProposal |title=Scan Matching Odometry and Multisensor SLAM |image=ScanMatching.jpg |description=Starting from some C/C++ code for laser scan alignment and the covari...")
 
 
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|image=ScanMatching.jpg
 
|image=ScanMatching.jpg
 
|description=Starting from some C/C++ code for laser scan alignment and the covariance information associated to the matching, we are interested in the development of a library for the matching and fusion of laser scans under the ROS (www.ros.org) environment. From this we are interested in the development of an odometric system based on laser scan matching and in a Simultaneous Localization and Mapping system integrating scan matching with visual SLAM. The result is a complete navigation system that fuses laser and visual information to build consisten maps in an EKF-based environment.
 
|description=Starting from some C/C++ code for laser scan alignment and the covariance information associated to the matching, we are interested in the development of a library for the matching and fusion of laser scans under the ROS (www.ros.org) environment. From this we are interested in the development of an odometric system based on laser scan matching and in a Simultaneous Localization and Mapping system integrating scan matching with visual SLAM. The result is a complete navigation system that fuses laser and visual information to build consisten maps in an EKF-based environment.
 
tesi specialistica Brenna
 
tesi primo livello Luperto - Mazuran
 
 
Codice da cui partire
 
codice Brenna
 
codice Luperto - Mazuran
 
  
 
'''Material:'''
 
'''Material:'''
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'''Expected outcome:'''
 
'''Expected outcome:'''
*a complete systema that build maps integrating laser scan and visual informtion
+
*a complete system that build maps integrating laser scan and visual informtion
  
 
'''Required skills or skills to be acquired:'''
 
'''Required skills or skills to be acquired:'''
 +
*Background on Kalman filtering
 +
*C++ programming under Linux
  
 
+
|tutor=MatteoMatteucci;SimoneCeriani;DavideCucci
|tutor=MatteoMatteucci;SimoneCeriani
+
 
|start=2012/04/01
 
|start=2012/04/01
 
|studmin=1
 
|studmin=1
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|level=Bs;Ms
 
|level=Bs;Ms
 
|type=Thesis
 
|type=Thesis
|status=Active
+
|status=Closed
 
}}
 
}}

Latest revision as of 00:42, 22 December 2014

Title: Scan Matching Odometry and Multisensor SLAM
ScanMatching.jpg

Image:ScanMatching.jpg

Description: Starting from some C/C++ code for laser scan alignment and the covariance information associated to the matching, we are interested in the development of a library for the matching and fusion of laser scans under the ROS (www.ros.org) environment. From this we are interested in the development of an odometric system based on laser scan matching and in a Simultaneous Localization and Mapping system integrating scan matching with visual SLAM. The result is a complete navigation system that fuses laser and visual information to build consisten maps in an EKF-based environment.

Material:

  • a MS thesis which describes the scan matching algorithms
  • a BS thesis which implements a prototype of the system

Expected outcome:

  • a complete system that build maps integrating laser scan and visual informtion

Required skills or skills to be acquired:

  • Background on Kalman filtering
  • C++ programming under Linux
Tutor: MatteoMatteucci (matteo.matteucci@polimi.it), SimoneCeriani (ceriani@elet.polimi.it), DavideCucci (cucci@elet.polimi.it)
Start: 2012/04/01
Students: 1 - 2
CFU: 10 - 20
Research Area: Robotics
Research Topic: none
Level: Bs, Ms
Type: Thesis
Status: Closed