Višesenzorska izgradnja karte i lokalizacija korištenjem 3D laserskog senzora i stereokamere

undergraduate thesis

• Title (english): Multi-sensor map building and localization using 3D laser sensor and stereo camera
• Author: Filip Vučić
• Mentor: Marija Seder (mentor)
• Committee member: Marija Seder (predsjednik povjerenstva)
• Committee member: Anđela Jurić (član povjerenstva)
• Committee member: Goran Popović (član povjerenstva)
• Granter: University of Zagreb; Faculty of Electrical Engineering and Computing; Zagreb
• Defense date and country: 2021-07-05, Croatia
• Scientific / art field, discipline and subdiscipline: TECHNICAL SCIENCES; Computing

Abstract

Cilj rada bio je lokalizacija mobilnog robota opremljenog stereo kamerom i laserskim senzorom u prethodno izgrađenoj karti. Opisani su pojmovi i algoritmi vizualne odometrije i izgradnje karte, te stereo kamera i LIDAR potrebni za njihovu implementaciju. Okolina korištena za primjenu algoritama je simulator autonomne vožnje CARLA, integriran s alatom za programiranje robota ROS. Provedeni su eksperimenti u simulatoru su te je dana analiza dobivenih rezultata kao greška lokalizacije u odnosu na referentne podatke.

Abstract (english)

The aim of the thesis was localization of mobile robot equipped with stereo camera and laser sensor in the previously built map. The concepts and algorithms of visual odometry and map building are described, as well as stereo camera and LIDAR required for their implementation. The environment used for application of the algorithms is autonomous driving simulator CARLA, integrated with robot programming tool ROS. Experimental evaluation in the simulator is performed and the analysis of the obtained results as a localization error in relation to the ground truth is presented.

• Keywords: izgradnja karte; lokalizacija; vizualna odometrija; stereokamera; laserski senzor
• Keywords (english): map building; localization; visual odometry; stereo camera; laser sensor
• Language: croatian
• URN:NBN: urn:nbn:hr:168:944234
• 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: 2023-01-14 10:14:50