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undergraduate thesis
Estimacija trajektorije mobilnoga robota zasnovana na optimizaciji na grafu
Zagreb: University of Zagreb, Faculty of Electrical Engineering and Computing, 2021. urn:nbn:hr:168:622501
Kendeš, Filip
University of Zagreb
Faculty of Electrical Engineering and Computing

Institutional repository: FER Repository

Cite this document

Kendeš, F. (2021). Estimacija trajektorije mobilnoga robota zasnovana na optimizaciji na grafu (Undergraduate thesis). Zagreb: University of Zagreb, Faculty of Electrical Engineering and Computing. Retrieved from https://urn.nsk.hr/urn:nbn:hr:168:622501

Kendeš, Filip. "Estimacija trajektorije mobilnoga robota zasnovana na optimizaciji na grafu." Undergraduate thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, 2021. https://urn.nsk.hr/urn:nbn:hr:168:622501

Kendeš, Filip. "Estimacija trajektorije mobilnoga robota zasnovana na optimizaciji na grafu." Undergraduate thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, 2021. https://urn.nsk.hr/urn:nbn:hr:168:622501

Kendeš, F. (2021). 'Estimacija trajektorije mobilnoga robota zasnovana na optimizaciji na grafu', Undergraduate thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, accessed 12 July 2024, https://urn.nsk.hr/urn:nbn:hr:168:622501

Kendeš F. Estimacija trajektorije mobilnoga robota zasnovana na optimizaciji na grafu [Undergraduate thesis]. Zagreb: University of Zagreb, Faculty of Electrical Engineering and Computing; 2021 [cited 2024 July 12] Available at: https://urn.nsk.hr/urn:nbn:hr:168:622501

F. Kendeš, "Estimacija trajektorije mobilnoga robota zasnovana na optimizaciji na grafu", Undergraduate thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, Zagreb, 2021. Available at: https://urn.nsk.hr/urn:nbn:hr:168:622501

Metadata
TitleEstimacija trajektorije mobilnoga robota zasnovana na optimizaciji na grafu
Title (english)Mobile robot trajectory estimation based on graph optimization
AuthorFilip Kendeš
MentorIvan Marković (mentor)
Committee memberIvan Marković (predsjednik povjerenstva)
Committee memberGoran Popović (član povjerenstva)
Committee memberAnđela Jurić (član povjerenstva)
GranterUniversity of Zagreb
Faculty of Electrical Engineering and Computing
Zagreb
Defense date and country2021-02-10, Croatia
Scientific / art field,
discipline and subdiscipline		TECHNICAL SCIENCES
Computing
Abstract
Rad se bavi problemom istovremene lokalizacije i izgradnje karte, koji zahtijeva rješenje u većini primjena mobilne robotike. U prvom se poglavlju govori općenito o mobilnoj robotici, o senzorima i gibanju mobilnih robota i o ciklusu mjerenjai gibanja. Drugo poglavlje opisuje SLAM problem, njegovu definiciju pomoću grafa položaja i osnovne metode i algoritme koji se koriste za rješavanje tako kodiranog SLAM problema. Treće poglavlje opisuje dva paketa, Ceres i g2o, koji nude biblioteke funkcija za rješavanje 2Di 3DSLAM problema. U četvrtom se poglavlju Ceres i g2o testiraju na šest 2D ulaznih datoteka i šest 3D ulaznih datoteka i rezultati testiranja se uspoređuju.
Abstract (english)
The thesis deals with the problem of simultaneous localization and map construction, which requires a solution in most applications of mobile robotics. The first chapter discusses mobile robotics in general, sensors and motion of mobile robots, and the cycle of observation and motion. The second chapter describes the SLAM problem, its coding using a pose graph, and the basic methods and algorithms used to solve such SLAM problems. The third chapter describes two packages, Ceres and g2o, which offer function libraries for solving 2D and 3D SLAM problems. In the fourth chapter, Ceres and g2o are tested on six 2D input files and six 3D input files and the test results are compared.
Keywords
Keywords (english)
Languagecroatian
URN:NBNurn:nbn:hr:168:622501
Study programmeTitle: Computing
Study programme type: university
Study level: undergraduate
Academic / professional title: sveučilišni/a prvostupnik/ prvostupnica (baccalaureus/baccalaurea) inženjer/inženjerka računarstva (sveučilišni/a prvostupnik/ prvostupnica (baccalaureus/baccalaurea) inženjer/inženjerka računarstva)
Type of resourceText
File originBorn digital
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Created on2023-01-14 20:46:09