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master's thesis
Fuzija podataka radar-IMU-kamera sustava za estimaciju vlastitog gibanja
Zagreb: University of Zagreb, Faculty of Electrical Engineering and Computing, 2022. urn:nbn:hr:168:912632
Štironja, Vlaho-Josip
University of Zagreb
Faculty of Electrical Engineering and Computing

Institutional repository: FER Repository

Cite this document

Štironja, V. J. (2022). Fuzija podataka radar-IMU-kamera sustava za estimaciju vlastitog gibanja (Master's thesis). Zagreb: University of Zagreb, Faculty of Electrical Engineering and Computing. Retrieved from https://urn.nsk.hr/urn:nbn:hr:168:912632

Štironja, Vlaho Josip. "Fuzija podataka radar-IMU-kamera sustava za estimaciju vlastitog gibanja." Master's thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, 2022. https://urn.nsk.hr/urn:nbn:hr:168:912632

Štironja, Vlaho Josip. "Fuzija podataka radar-IMU-kamera sustava za estimaciju vlastitog gibanja." Master's thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, 2022. https://urn.nsk.hr/urn:nbn:hr:168:912632

Štironja, V. J. (2022). 'Fuzija podataka radar-IMU-kamera sustava za estimaciju vlastitog gibanja', Master's thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, accessed 22 November 2024, https://urn.nsk.hr/urn:nbn:hr:168:912632

Štironja VJ. Fuzija podataka radar-IMU-kamera sustava za estimaciju vlastitog gibanja [Master's thesis]. Zagreb: University of Zagreb, Faculty of Electrical Engineering and Computing; 2022 [cited 2024 November 22] Available at: https://urn.nsk.hr/urn:nbn:hr:168:912632

V. J. Štironja, "Fuzija podataka radar-IMU-kamera sustava za estimaciju vlastitog gibanja", Master's thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, Zagreb, 2022. Available at: https://urn.nsk.hr/urn:nbn:hr:168:912632

Metadata
TitleFuzija podataka radar-IMU-kamera sustava za estimaciju vlastitog gibanja
Title (english)Radar-IMU-camera system data fusion for ego-motion estimation
AuthorVlaho-Josip Štironja
MentorIvan Marković (mentor)
Committee memberIvan Petrović (član povjerenstva)
Committee memberMarija Seder (član povjerenstva)
Committee memberJuraj Peršić (član povjerenstva)
GranterUniversity of Zagreb
Faculty of Electrical Engineering and Computing
Zagreb
Defense date and country2022-07-12, Croatia
Scientific / art field,
discipline and subdiscipline		TECHNICAL SCIENCES
Electrical Engineering
Abstract
Poznavanje vlastitog gibanja ključan je zadatak svakog autonomnog mobilnog robota. U tu svrhu, uobičajeno se koriste senzori poput kamera, inercijalnih mjernih jedinica (IMU) i lidara. Potaknuta nedavnim razvojem, nova istraživanja počela su koristiti i radare pri estimaciji vlastitog gibanja zbog njihove robusnosti na vremenske uvjete. Različiti tipovi senzori mjere različita fizikalna svojstva okoline ili unutarnjih stanja. Stoga se njihova ograničenja i uvjeti rada bitno razlikuju. Fuzijom različitih senzora povećava se robusnost sustava te se proširuju dozvoljeni uvjeti rada. U diplomskom radu potrebno je potrebno estimirati vlastito gibanje fuzijom radara, kamere i IMU-a. U tu svrhu potrebno je prikupiti novi skup podataka kojim je moguće provesti fuziju te analizirati njenu točnost.
Abstract (english)
Knowledge of ego-motion is a key task for all autonomous mobile robots. For that purpose, one usually uses sensors like cameras, inertial measurement units (IMU), and lidars. Given recent developments, novel research is also targeting radars for ego-motion estimation due to their robustness to environmental conditions. Different sensors measure different physical properties of the environment or inner system states. Thus their limitations and the extent of operating conditions can differ substantially. By fusing different sensors, we can increase the system's robustness and extend operating conditions. The goal of this thesis is to estimate the ego-motion of a sensor platform by fusing radar, camera, and IMU data. To that end, novel dataset collection will be required through which fusion can be carried out and accuracy analyzed.
Keywords
Keywords (english)
Languageenglish
URN:NBNurn:nbn:hr:168:912632
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 16:19:28