Istovremena lokalizacija i mapiranje za stereo kamere u autonomnim vozilima

undergraduate thesis

• Title (english): Simultaneous localization and mapping for stereo cameras in autonomous vehicles
• Author: Tin Mišić
• Mentor: Ivan Marković (mentor)
• Committee member: Ivan Marković (član povjerenstva)
• Committee member: Karlo Koledić (član povjerenstva)
• Committee member: Ivan Bilić (član povjerenstva)
• Granter: University of Zagreb; Faculty of Electrical Engineering and Computing; Zagreb
• Defense date and country: 2022-07-01, Croatia
• Scientific / art field, discipline and subdiscipline: TECHNICAL SCIENCES; Computing

Abstract

Postupkom istovremene lokalizacije i mapiranja nastojimo postepeno izgraditi kartu nepoznatog prostora i saznati poziciju agenta (vozila ili robota) u tom prostoru. Postupak se zasniva na prepoznavanju orijentira u prostoru, u odnosu na koje agent može odrediti svoj položaj. Ovime se u isto vrijeme gradi karta prostora i slijed položaja agenta koji čine njegovo gibanje. Za prikupljanje informacija o okolini i gibanju agenta korišten je stereo sustav, koji se sastoji od dvije kamere. Greške koje nastaju tijekom estimacije gibanja pokušavaju se popraviti metodom lokalne optimizacije zvanom bundle adjustment. Učinkovitost implementacije ispitana je na KITTI skupu podataka.

Abstract (english)

Using the process of simultaneous localization and mapping, we try to gradually build a map of an unknown space and find out the position of an agent (a vehicle or a robot) in that space. The process is based on recognizing landmarks in space, in relation to which the agent can determine it's position. This at the same time builds a map of the space and a sequence of the agent's positions that make up it's movement. A stereo system consisting of two cameras was used to gather information about the environment and the movement of the agent. Errors that occur during motion estimation are corrected by a local optimization method called bundle adjustment. The effectiveness of the implementation was tested on the KITTI dataset.

• Keywords: SLAM; lokalizacija; mapiranje; eksteroceptivni senzori; stereovid; stereo kamere; KITTI
• Keywords (english): SLAM; localization; mapping; eksteroceptive sensors; stereovision; stereo cameras; KITTI
• Language: croatian
• URN:NBN: urn:nbn:hr:168:983435
• Study programme: Title: Computing; Study programme type: university; Study level: undergraduate; Academic / professional title: sveučilišni/a prvostupnik/ prvostupnica (baccalaureus/baccalaurea) inženjer/inženjerka računarstva (sveučilišni/a prvostupnik/ prvostupnica (baccalaureus/baccalaurea) inženjer/inženjerka računarstva)
• Type of resource: Text
• File origin: Born digital
• Access conditions: Closed access
• Created on: 2023-01-15 10:53:33