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master's thesis
Vizualna odometrija i kartiranje vanjskog prostora
Zagreb: University of Zagreb, Faculty of Electrical Engineering and Computing, 2023. urn:nbn:hr:168:774848
Anić, Piero
University of Zagreb
Faculty of Electrical Engineering and Computing

Institutional repository: FER Repository

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Anić, P. (2023). Vizualna odometrija i kartiranje vanjskog prostora (Master's thesis). Zagreb: University of Zagreb, Faculty of Electrical Engineering and Computing. Retrieved from https://urn.nsk.hr/urn:nbn:hr:168:774848

Anić, Piero. "Vizualna odometrija i kartiranje vanjskog prostora." Master's thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, 2023. https://urn.nsk.hr/urn:nbn:hr:168:774848

Anić, Piero. "Vizualna odometrija i kartiranje vanjskog prostora." Master's thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, 2023. https://urn.nsk.hr/urn:nbn:hr:168:774848

Anić, P. (2023). 'Vizualna odometrija i kartiranje vanjskog prostora', Master's thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, accessed 12 July 2024, https://urn.nsk.hr/urn:nbn:hr:168:774848

Anić P. Vizualna odometrija i kartiranje vanjskog prostora [Master's thesis]. Zagreb: University of Zagreb, Faculty of Electrical Engineering and Computing; 2023 [cited 2024 July 12] Available at: https://urn.nsk.hr/urn:nbn:hr:168:774848

P. Anić, "Vizualna odometrija i kartiranje vanjskog prostora", Master's thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, Zagreb, 2023. Available at: https://urn.nsk.hr/urn:nbn:hr:168:774848

Metadata
TitleVizualna odometrija i kartiranje vanjskog prostora
Title (english)Visual odometry and mapping of outdoor environments
AuthorPiero Anić
MentorMarija Seder (mentor)
Committee memberIvan Marković (član povjerenstva)
Committee memberJuraj Peršić (član povjerenstva)
Committee memberLuka Petrović (član povjerenstva)
GranterUniversity of Zagreb
Faculty of Electrical Engineering and Computing
Zagreb
Defense date and country2023-07-11, Croatia
Scientific / art field,
discipline and subdiscipline		TECHNICAL SCIENCES
Electrical Engineering
Abstract
Istodobna lokalizacija i izgradnja karte (SLAM) je jedan od osnovnih problem robotike i računalnog vida čiji je cilj omogućiti autonomnim sustavima istovremenu procjenu vlastite pozicije i izgradnju karte okolišnog prostora. Ovaj rad istražuje napretke, izazove i primjene SLAM sustava, s fokusom na teoretsku kao i na primijenjenu implementaciju. Prva dva poglavlja pružaju sveobuhvatan pregled ishodišnih koncepata i tehnika koje SLAM obuhvaća. Pokrivaju matematički opis temeljnog problema kao i definiciju algoritma korak po korak. Treće poglavlje pokriva razvoj otkrivanja, opisa i podudaranja značajki nakon kojeg slijedi opis pretvorbe video zapisa u kartu u četvrtom poglavlju. Tu se raspravlja i o optimizaciji projekcije značajki i kako to utječe na izgradnju karte. Dodatno su spomenuti i problemi kao scale-drift kao i potencijalna rješenja problema. Naposljetku je pokrivena i tema rekonstrukcije površine u petom poglavlju, rekonstrukcija zatvorenih površina kao i nove metode rekonstrukcija površina koje nisu nužno zatvorene.
Abstract (english)
Simultaneous Localization and Mapping (SLAM) is a fundamental problem in the field of robotics and computer vision that aims to enable autonomous systems to simultaneously estimate their own position and create a map of the surrounding environment. This thesis explores the advancements, challenges, and applications of SLAM techniques, with a focus on both the theoretical foundations and practical implementations. The first and second chapter of the thesis provides a comprehensive review of the underlying concepts and techniques involved in SLAM. They cover mathematical definition of the underlying issue as well as a step by step definition of the algorithm. Third chapter covers the development of feature detection, description and matching which is followed by the process of turning the video to a map in chapter four. There it is talked about optimization of feature projection and how it fits into the map building. Additionally issues like scale drift are mentioned and potential solutions. In the end surface reconstruction is covered in fifth chapter, both closed surface reconstruction and new methods for reconstructing open space.
Keywords
Keywords (english)
Languagecroatian
URN:NBNurn:nbn:hr:168:774848
Study programmeTitle: 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 resourceText
File originBorn digital
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Created on2023-10-11 08:17:10