Difference between revisions of "Indoor localization system based on a gyro and visual passive markers"
From AIRWiki
(→The Project in short) |
(→The Project in short) |
||
Line 17: | Line 17: | ||
===The Project in short=== | ===The Project in short=== | ||
− | #. Predict new robot pose | + | #. Predict new robot pose |
− | #. Modify the covariance | + | #. Modify the covariance |
#. For each of the M observed landmarks i: | #. For each of the M observed landmarks i: | ||
− | ##. Compute hi | + | ##. Compute hi and its Jacobian. |
##. For each dimension j of the observation hi: | ##. For each dimension j of the observation hi: | ||
− | ### Compute the scalar | + | ### Compute the scalar Sij |
− | ### Computation of | + | ### Computation of Kij. |
− | ### Update the filter state vector | + | ### Update the filter state vector |
− | ### Update the filter covariance Pk | k | + | ### Update the filter covariance Pk | k |
#. If necessary, introduce new landmarks in the map. | #. If necessary, introduce new landmarks in the map. |
Revision as of 09:56, 4 June 2010
Indoor localization system based on a gyro and visual passive markers
| |
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
- . Modify the covariance
- . For each of the M observed landmarks i:
- . Compute hi and its Jacobian.
- . For each dimension j of the observation hi:
- Compute the scalar Sij
- Computation of Kij.
- Update the filter state vector
- Update the filter covariance Pk | k
- . If necessary, introduce new landmarks in the map.