Istovremena lokalizacija i mapiranje u simuliranim okruženjima

undergraduate thesis

• Title (english): Simultaneous Localization and Mapping in simulated environments
• Author: Jelena Penava
• Mentor: Ivan Marković (mentor)
• Committee member: Ivan Marković (član povjerenstva)
• Committee member: Borna Bićanić (član povjerenstva)
• Committee member: Luka Petrović (član povjerenstva)
• Granter: University of Zagreb; Faculty of Electrical Engineering and Computing; Zagreb
• Defense date and country: 2023-01-23, Croatia
• Scientific / art field, discipline and subdiscipline: TECHNICAL SCIENCES; Computing

Abstract

Tema ovog završnog rada je algoritam istovremene lokalizacije i mapiranja u simuliranim okruženjima. Algoritam je pisan u MATLAB-u koji nudi simulacijsko okruženje za izvođenje algoritma. Implementiran je ekfSLAM algoritam koji se bazira na proširenom Kalmanovom filtru, vrsti Bayesovog filtra koji se zasniva na koracima predikcije i ispravka predikcije u skladu s opaženim podacima.

Abstract (english)

The theme of this final work is the simultaneous localisation and mapping algorithm in simulated environments. The algorithm is written in MATLAB, that offers a simulated enviroment in which we can test the algorithm. The algo- rithm which was implemented was the ekfSLAM algorithm based on extended Kalman filter, a type of Bayes filter which consists of two steps, prediction step and correction step.

• Keywords: SLAM; mapiranje; lokalizacija
• Keywords (english): SLAM; mapping; localisation
• Language: croatian
• URN:NBN: urn:nbn:hr:168:539018
• 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: 2023-10-11 10:05:27