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master's thesis
Prilagodba elastičnosti grafa poza prema nesigurnosti podudaranja skena
Zagreb: University of Zagreb, Faculty of Electrical Engineering and Computing, 2019. urn:nbn:hr:168:549816
Buterin, Ivan
University of Zagreb
Faculty of Electrical Engineering and Computing

Institutional repository: FER Repository

Cite this document

Buterin, I. (2019). Prilagodba elastičnosti grafa poza prema nesigurnosti podudaranja skena (Master's thesis). Zagreb: University of Zagreb, Faculty of Electrical Engineering and Computing. Retrieved from https://urn.nsk.hr/urn:nbn:hr:168:549816

Buterin, Ivan. "Prilagodba elastičnosti grafa poza prema nesigurnosti podudaranja skena." Master's thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, 2019. https://urn.nsk.hr/urn:nbn:hr:168:549816

Buterin, Ivan. "Prilagodba elastičnosti grafa poza prema nesigurnosti podudaranja skena." Master's thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, 2019. https://urn.nsk.hr/urn:nbn:hr:168:549816

Buterin, I. (2019). 'Prilagodba elastičnosti grafa poza prema nesigurnosti podudaranja skena', Master's thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, accessed 26 December 2024, https://urn.nsk.hr/urn:nbn:hr:168:549816

Buterin I. Prilagodba elastičnosti grafa poza prema nesigurnosti podudaranja skena [Master's thesis]. Zagreb: University of Zagreb, Faculty of Electrical Engineering and Computing; 2019 [cited 2024 December 26] Available at: https://urn.nsk.hr/urn:nbn:hr:168:549816

I. Buterin, "Prilagodba elastičnosti grafa poza prema nesigurnosti podudaranja skena", Master's thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, Zagreb, 2019. Available at: https://urn.nsk.hr/urn:nbn:hr:168:549816

Metadata
TitlePrilagodba elastičnosti grafa poza prema nesigurnosti podudaranja skena
Title (english)Elasticity Adjustment of the Pose Graph to Uncertainty of Scan Matching
AuthorIvan Buterin
MentorZdenko Kovačić (mentor)
Committee memberZdenko Kovačić (predsjednik povjerenstva)
Committee memberStjepan Bogdan (član povjerenstva)
Committee memberDamjan Miklić (član povjerenstva)
GranterUniversity of Zagreb
Faculty of Electrical Engineering and Computing
Zagreb
Defense date and country2019-07-18, Croatia
Scientific / art field,
discipline and subdiscipline		TECHNICAL SCIENCES
Electrical Engineering
Abstract
U sklopu diplomskog rada, estimirana je kovarijanca podudaranja skena koristeći biblioteku Ceres. Estimirana kovarijanca je vizualizirana u alatu Rviz. Dodana je nova funkcija pogreške koja koristi estimiranu matricu kovarijance. Nova funkcija je korištena na intra ograničenjima podkarte i ograničenjima temeljenima na uzastopnim pozama lokalnog SLAM-a. Utjecaj nove funkcije na unošenje elastičnosti u proces optimizacije grafa poza ispitan je na podacima prikupljenima na FER-u pomoću mobilnog robota.
Abstract (english)
In this thesis, the scan matching covariance was estimated using the Ceres library. Estimated covariance was visualized in the Rviz visualization tool. A new cost function that uses the estimated covariance matrix was implemented. This function was used on intra-submap constraints and constraints based on consecutive local SLAM poses. The influence of the new cost function on elasticity in pose graph optimization was investigated on the data collected on FER by a mobile robot.
Keywords
Keywords (english)
Languagecroatian
URN:NBNurn:nbn:hr:168:549816
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 on2020-01-07 17:10:28