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undergraduate thesis
Istovremena lokalizacija i mapiranje za stereo kamere u autonomnim vozilima
Zagreb: University of Zagreb, Faculty of Electrical Engineering and Computing, 2022. urn:nbn:hr:168:983435
Mišić, Tin
University of Zagreb
Faculty of Electrical Engineering and Computing

Institutional repository: FER Repository

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Mišić, T. (2022). Istovremena lokalizacija i mapiranje za stereo kamere u autonomnim vozilima (Undergraduate thesis). Zagreb: University of Zagreb, Faculty of Electrical Engineering and Computing. Retrieved from https://urn.nsk.hr/urn:nbn:hr:168:983435

Mišić, Tin. "Istovremena lokalizacija i mapiranje za stereo kamere u autonomnim vozilima." Undergraduate thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, 2022. https://urn.nsk.hr/urn:nbn:hr:168:983435

Mišić, Tin. "Istovremena lokalizacija i mapiranje za stereo kamere u autonomnim vozilima." Undergraduate thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, 2022. https://urn.nsk.hr/urn:nbn:hr:168:983435

Mišić, T. (2022). 'Istovremena lokalizacija i mapiranje za stereo kamere u autonomnim vozilima', Undergraduate thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, accessed 27 December 2024, https://urn.nsk.hr/urn:nbn:hr:168:983435

Mišić T. Istovremena lokalizacija i mapiranje za stereo kamere u autonomnim vozilima [Undergraduate thesis]. Zagreb: University of Zagreb, Faculty of Electrical Engineering and Computing; 2022 [cited 2024 December 27] Available at: https://urn.nsk.hr/urn:nbn:hr:168:983435

T. Mišić, "Istovremena lokalizacija i mapiranje za stereo kamere u autonomnim vozilima", Undergraduate thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, Zagreb, 2022. Available at: https://urn.nsk.hr/urn:nbn:hr:168:983435

Metadata
TitleIstovremena lokalizacija i mapiranje za stereo kamere u autonomnim vozilima
Title (english)Simultaneous localization and mapping for stereo cameras in autonomous vehicles
AuthorTin Mišić
MentorIvan Marković (mentor)
Committee memberIvan Marković (član povjerenstva)
Committee memberKarlo Koledić (član povjerenstva)
Committee memberIvan Bilić (član povjerenstva)
GranterUniversity of Zagreb
Faculty of Electrical Engineering and Computing
Zagreb
Defense date and country2022-07-01, 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
Keywords (english)
Languagecroatian
URN:NBNurn:nbn:hr:168:983435
Study programmeTitle: 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 resourceText
File originBorn digital
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Created on2023-01-15 10:53:33