Scan Matching Odometry and Multisensor SLAM

Title:	Scan Matching Odometry and Multisensor SLAM	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