Indoor localization system based on a gyro and visual passive markers
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Indoor localization system based on a gyro and visual passive markers
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Short Description: | This project aims at developing autonomous moving systems based on a gyro and passive markers |
Coordinator: | |
Tutor: | MatteoMatteucci (matteo.matteucci@polimi.it), SimoneCeriani (ceriani@elet.polimi.it), DavideMigliore (d.migliore@evidence.eu.com) |
Collaborator: | |
Students: | DarioCecchetto (dario.cecchetto@mail.polimi.it), LorenzoConsolaro () |
Research Topic: | |
Start: | 2009/06/01 |
End: | 2010/04/25 |
Status: | Active |
Level: | Bs |
Type: | Thesis |
What we use
- Eclipse for C/C++
- An STR9 Cam based module from ST
- A STM32 Gyroscope based module from ST
The Project in short
- . Predict new robot pose using
- . Modify the covariance following (2.5).
- . For each of the M observed landmarks i:
- . Compute hi (2.12) and its Jacobian.
- . For each dimension j of the observation hi:
- Compute the scalar (2.19).
- Computation of (4.1).
- Update the filter state vector using (4.2).
- Update the filter covariance Pk | k using (4.3).
- . If necessary, introduce new landmarks in the map.