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master's thesis
Vizualna inercijska odometrija u vanjskom prostoru
Zagreb: University of Zagreb, Faculty of Electrical Engineering and Computing, 2021. urn:nbn:hr:168:335421
Krznarić, Marko
University of Zagreb
Faculty of Electrical Engineering and Computing

Institutional repository: FER Repository

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Krznarić, M. (2021). Vizualna inercijska odometrija u vanjskom prostoru (Master's thesis). Zagreb: University of Zagreb, Faculty of Electrical Engineering and Computing. Retrieved from https://urn.nsk.hr/urn:nbn:hr:168:335421

Krznarić, Marko. "Vizualna inercijska odometrija u vanjskom prostoru." Master's thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, 2021. https://urn.nsk.hr/urn:nbn:hr:168:335421

Krznarić, Marko. "Vizualna inercijska odometrija u vanjskom prostoru." Master's thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, 2021. https://urn.nsk.hr/urn:nbn:hr:168:335421

Krznarić, M. (2021). 'Vizualna inercijska odometrija u vanjskom prostoru', Master's thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, accessed 09 August 2024, https://urn.nsk.hr/urn:nbn:hr:168:335421

Krznarić M. Vizualna inercijska odometrija u vanjskom prostoru [Master's thesis]. Zagreb: University of Zagreb, Faculty of Electrical Engineering and Computing; 2021 [cited 2024 August 09] Available at: https://urn.nsk.hr/urn:nbn:hr:168:335421

M. Krznarić, "Vizualna inercijska odometrija u vanjskom prostoru", Master's thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, Zagreb, 2021. Available at: https://urn.nsk.hr/urn:nbn:hr:168:335421

Metadata
TitleVizualna inercijska odometrija u vanjskom prostoru
Title (english)Visual inertial odometry in outdoor environments
AuthorMarko Krznarić
MentorMarija Seder (mentor)
Committee memberMarija Seder (predsjednik povjerenstva)
Committee memberIvan Petrović (član povjerenstva)
Committee memberIvan Marković (član povjerenstva)
GranterUniversity of Zagreb
Faculty of Electrical Engineering and Computing
Zagreb
Defense date and country2021-09-14, Croatia
Scientific / art field,
discipline and subdiscipline		TECHNICAL SCIENCES
Computing
Abstract
Sustav kamere i inercijskog senzora (IMU) najbliži je elektronički ekvivalent kako živa bića vide objekte u prostoru, dok IMU predstavlja unutarnje uho koje daje osjećaj za ravnotežu u prostoru. Ovaj sustav omogućuje praćenje svog položaja u prostoru, odnosno vizualnu odometriju. Rješavanje problema vizualne odometrije samo iz monokularne slike daje skalirani pomak, budući da ne postoji način usporedbe sa stvarnim pomakom. Ovaj se problem odred̄ivanja faktora skaliranja može riješiti sustavom kalibriranih stereo kamera ili dodavanjem senzora IMU. Veliki je izazov ostvariti veću frekvenciju rada vizualne odometrije, što je moguće sa senzorom IMU koji radi na znatno višoj frekvenciji od kamere. U diplomskom je radu potrebno obraditi algoritme vizualne odometrije iz monokularne slike te riješiti problem faktora skaliranja pomaka dodavanjem senzora IMU. Razvijeni algoritam vizualne odometrije potrebno je provjeriti eksperimentalno na više različitih vanjskih prostora pod različitim uvjetima.
Abstract (english)
Camera system and an inertia sensor (IMU) is the closest electronic equivalent to how living things see objects in space, while IMU represents the inner ear that gives a sense of balance in space. This system allows us to monitor our position in space, or visual odometry. Troubleshooting visual odometry only from monocular images gives a scaled shift, since there is no way to compare with real shift. This problem in determination of scaling factor can be solved by a system of calibrated stereo cameras or by adding an IMU sensor. A big challenge is achieving a higher frequency of visual odometry, which is possible with an IMU sensor that operates at a much higher frequency than cameras. It is necessary in the graduate thesis to process the algorithms of visual odometry from monocular images and solve the problem of displacement scaling factor by adding an IMU sensor. The developed visual odometry algorithm needs to be tested experimentally on different outdoor spaces under different conditions.
Keywords
Keywords (english)
Languagecroatian
URN:NBNurn:nbn:hr:168:335421
Study programmeTitle: Computing
Study programme type: university
Study level: graduate
Academic / professional title: magistar/magistra inženjer/inženjerka računarstva (magistar/magistra inženjer/inženjerka računarstva)
Type of resourceText
File originBorn digital
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Created on2023-01-13 12:49:01