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master's thesis
Lokalizacija vozila zasnovana na fuziji podataka višesenzorskog sustava
Zagreb: University of Zagreb, Faculty of Electrical Engineering and Computing, 2020. urn:nbn:hr:168:373281
Raos, Fran
University of Zagreb
Faculty of Electrical Engineering and Computing

Institutional repository: FER Repository

Cite this document

Raos, F. (2020). Lokalizacija vozila zasnovana na fuziji podataka višesenzorskog sustava (Master's thesis). Zagreb: University of Zagreb, Faculty of Electrical Engineering and Computing. Retrieved from https://urn.nsk.hr/urn:nbn:hr:168:373281

Raos, Fran. "Lokalizacija vozila zasnovana na fuziji podataka višesenzorskog sustava." Master's thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, 2020. https://urn.nsk.hr/urn:nbn:hr:168:373281

Raos, Fran. "Lokalizacija vozila zasnovana na fuziji podataka višesenzorskog sustava." Master's thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, 2020. https://urn.nsk.hr/urn:nbn:hr:168:373281

Raos, F. (2020). 'Lokalizacija vozila zasnovana na fuziji podataka višesenzorskog sustava', Master's thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, accessed 25 November 2024, https://urn.nsk.hr/urn:nbn:hr:168:373281

Raos F. Lokalizacija vozila zasnovana na fuziji podataka višesenzorskog sustava [Master's thesis]. Zagreb: University of Zagreb, Faculty of Electrical Engineering and Computing; 2020 [cited 2024 November 25] Available at: https://urn.nsk.hr/urn:nbn:hr:168:373281

F. Raos, "Lokalizacija vozila zasnovana na fuziji podataka višesenzorskog sustava", Master's thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, Zagreb, 2020. Available at: https://urn.nsk.hr/urn:nbn:hr:168:373281

Metadata
TitleLokalizacija vozila zasnovana na fuziji podataka višesenzorskog sustava
Title (english)Vehicle localization based on multi-sensor system data fusion
AuthorFran Raos
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 country2020-07-10, Croatia
Scientific / art field,
discipline and subdiscipline		TECHNICAL SCIENCES
Electrical Engineering
Abstract
Ovaj diplomski rad sastoji se od četiri poglavlja te uvoda, zaključka i priloga. U drugom poglavlju obrađuje se matematički model odabranog algoritma lokalizacije prema odabranom rješenju te algoritam neizravnog proširenog Kalmanova filtra koji se koristi u procesu fuzije podataka senzora. Mjerenja senzora koja se fuziraju su: obrađena mjerenja GNSS-a, mjerenja vizualne odometrije dobivena kamerom, simulirana mjerenja enkodera te neobrađena mjerenja IMU senzora. U trećem poglavlju obrađuje se vlastita implementacija algoritma lokalizacije u MATLAB-u prema prethodno objašnjenjom matematičkom modelu. Navode se sve funkcionalnosti napravljenih i korištenih skripti. Sve skripte prilažu se uz ovaj diplomski rad u elektroničkom obliku. U četvrtom poglavlju nalaze se rezultati estimacije algoritma lokalizacije pri čemu su za testiranje algoritma estimacije korištena tri KITTI dataseta. Uz rezultate nalaze se i komentari dobivenih rezultata estimacije. U zadnjem poglavlju nalaze se prijedlozi za budući rad na algoritmu. Cilj ovoga diplomskoga rada bio je implementirati algoritam lokalizacije prema unaprijed odabranoj literaturi te ostvariti uspješnu estimaciju lokalizacije. Ciljevi ovog diplomskog rada su zadovoljeni.
Abstract (english)
This master thesis consists of four chapters, introduction, conclusion and appendix. The mathematical model of the chosen localization algorithm and the indirect extended Kalman filter algorithm which is used in the data fusion process are explained in the second chapter. Multi-sensor data in the fusion process are: processed GNSS measurements, visual odometry measurements from the camera, simulated encoder measurements and raw IMU measurements. The own implementation of the localization algorithm in MATLAB based on the mentioned mathematical model is explained in the third chapter. All functionalities of the made and used scripts are listed. All scripts come with this master thesis in the electronic form. The results of the implemented localization algorithm which was tested on three KITTI datasets is presented in the fourth chapter. The comments on the results are also noted. In the last chapter the suggestions on future work are listed. The goal of this master thesis was to implement the localization algorithm based on previously selected literature and to make a successful localization estimation. The master thesis goals were satisfied.
Keywords
Keywords (english)
Languagecroatian
URN:NBNurn:nbn:hr:168:373281
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 on2023-01-13 13:40:47