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master's thesis
Optimizacija karata i trajektorija u SLAM-u pomoću grafova poza
Zagreb: University of Zagreb, Faculty of Electrical Engineering and Computing, 2019. urn:nbn:hr:168:253828
Jambrečić, Ivona
University of Zagreb
Faculty of Electrical Engineering and Computing

Institutional repository: FER Repository

Cite this document

Jambrečić, I. (2019). Optimizacija karata i trajektorija u SLAM-u pomoću grafova poza (Master's thesis). Zagreb: University of Zagreb, Faculty of Electrical Engineering and Computing. Retrieved from https://urn.nsk.hr/urn:nbn:hr:168:253828

Jambrečić, Ivona. "Optimizacija karata i trajektorija u SLAM-u pomoću grafova poza." Master's thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, 2019. https://urn.nsk.hr/urn:nbn:hr:168:253828

Jambrečić, Ivona. "Optimizacija karata i trajektorija u SLAM-u pomoću grafova poza." Master's thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, 2019. https://urn.nsk.hr/urn:nbn:hr:168:253828

Jambrečić, I. (2019). 'Optimizacija karata i trajektorija u SLAM-u pomoću grafova poza', Master's thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, accessed 25 November 2024, https://urn.nsk.hr/urn:nbn:hr:168:253828

Jambrečić I. Optimizacija karata i trajektorija u SLAM-u pomoću grafova poza [Master's thesis]. Zagreb: University of Zagreb, Faculty of Electrical Engineering and Computing; 2019 [cited 2024 November 25] Available at: https://urn.nsk.hr/urn:nbn:hr:168:253828

I. Jambrečić, "Optimizacija karata i trajektorija u SLAM-u pomoću grafova poza", Master's thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, Zagreb, 2019. Available at: https://urn.nsk.hr/urn:nbn:hr:168:253828

Metadata
TitleOptimizacija karata i trajektorija u SLAM-u pomoću grafova poza
Title (english)Pose graph optimization of SLAM maps and trajectories
AuthorIvona Jambrečić
MentorStjepan Bogdan (mentor)
Committee memberStjepan Bogdan (predsjednik povjerenstva)
Committee memberZdenko Kovačić (član povjerenstva)
Committee memberNikola Mišković (član povjerenstva)
GranterUniversity of Zagreb
Faculty of Electrical Engineering and Computing
Zagreb
Defense date and country2019-02-14, Croatia
Scientific / art field,
discipline and subdiscipline		TECHNICAL SCIENCES
Electrical Engineering
Abstract
U diplomskom radu je implementirana naknadna obrada karata i trajektorija izgrađenih algoritmom za istovremenu lokalizaciju i izgradnju karte prostora (SLAM). Naknadna obrada je zasnovana na izgradnji zajedničkog grafa poza iz jednog ili više skupova senzorskih mjerenja među kojima se pronalaze korespondencije laserskih očitanja, te provođenjem postupka optimizacije nad sjedinjenim grafom poza. Korišten je Karto SLAM razvojni alat te vizualizacija u ROS okruženju. Validacija razvijenog algoritma obavljena je korištenjem skupa podataka iz stvarnog svijeta.
Abstract (english)
This thesis provides a solution to the problem of updating SLAM-built maps of large dynamical environments by building partial maps of the environment and merging them together into a single map. This approach involves post-processing of SLAM-built maps and trajectories by constructing a unified pose graph from laser rangefinder measurement correspondences extracted from one or more sensor datasets, and performing pose graph optimization. Implementation is done within Karto SLAM implementation with visualization in ROS environment. The developed algorithm is validated on dataset sampled in the real environment.
Keywords
Keywords (english)
Languageenglish
URN:NBNurn:nbn:hr:168:253828
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 on2019-03-13 21:08:19