Istodobna lokalizacija i izgradnja karte prostora zasnovana na računalno projektiranom tlocrtu kao početnoj informaciji

master's thesis

• Title (english): Simultaneous Localization and Mapping (SLAM) with a CAD Floorplan as Prior Information
• Author: Goran Popović
• Mentor: Stjepan Bogdan (mentor)
• Committee member: Stjepan Bogdan (predsjednik povjerenstva)
• Committee member: Zdenko Kovačić (član povjerenstva)
• Committee member: Matko Orsag (član povjerenstva)
• Granter: University of Zagreb; Faculty of Electrical Engineering and Computing; Zagreb
• Defense date and country: 2017-07-18, Croatia
• Scientific / art field, discipline and subdiscipline: TECHNICAL SCIENCES; Electrical Engineering

Abstract

Autonomni roboti fokus su interesa mnogih znanstvenika i inženjera. Na putu k autonomnoj robotici jedan od ključnih koraka je riješiti problem snalaženja robota u nepoznatom prostoru. U želji da se taj korak premosti, razvijeno je više algoritama za lokalizaciju i mapiranje robota. U ovom diplomskom radu nadograđna je postojeća implementacija algoritma za lokalizaciju i mapiranje s ciljem poboljšanja točnosti informacija koje robot ima nakon završetka izvršenja algoritma. U nadograđenoj implementaciji je omogućeno robotu dati početnu mapu koju robot koristi u lokalizaciji i koju nadograđuje svojim mjerenjima. Nakon nadogradnje implementacije algoritma, poboljšanje mapiranja i lokalizacije je testirano na prizemlju zgrade fakulteta.

Abstract (english)

Autonomous robots are interesting field for many scientists and engineers. On the way to autonomous robotics, one of the main checkpoints is to solve problem of robot acting in unknown environments. In order to solve this problem, several algorithms for localization and mapping were developed. In this thesis an existing implementation of one of those algorithms is upgraded in order to get better results of the map and robot's localization. In the upgraded implementation it is possible to provide robot with prior map of the environment. Robot can localize itself in prior map and improve the map with new measurements. After the upgrade of algorithm's implementation, improvement was tested on the ground floor of faculty building.

• Keywords: SLAM; lokalizacija; mapiranje; početna mapa; CAD tlocrt; Rao-Blackwellized čestični filter
• Keywords (english): SLAM; localization; mapping; prior map; CAD floor plan; Rao-Blackwellized particle filter
• Language: english
• URN:NBN: urn:nbn:hr:168:985696
• Study programme: Title: Electrical Engineering and Information Technology; Study programme type: university; Study level: graduate; Academic / professional title: magistar/magistra inženjer/inženjerka elektrotehnike i informacijske tehnologije (magistar/magistra inženjer/inženjerka elektrotehnike i informacijske tehnologije)
• Type of resource: Text
• File origin: Born digital
• Access conditions: Closed access
• Created on: 2019-03-14 00:07:41