Scan Matching Odometry and Multisensor SLAM

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Title: Scan Matching Odometry and Multisensor SLAM


Description: Starting from some C/C++ code for laser scan alignment and the covariance information associated to the matching, we are interested in the development of a library for the matching and fusion of laser scans under the ROS ( environment. From this we are interested in the development of an odometric system based on laser scan matching and in a Simultaneous Localization and Mapping system integrating scan matching with visual SLAM. The result is a complete navigation system that fuses laser and visual information to build consisten maps in an EKF-based environment.


  • a MS thesis which describes the scan matching algorithms
  • a BS thesis which implements a prototype of the system

Expected outcome:

  • a complete system that build maps integrating laser scan and visual informtion

Required skills or skills to be acquired:

  • Background on Kalman filtering
  • C++ programming under Linux
Tutor: MatteoMatteucci (, SimoneCeriani (, DavideCucci (
Start: 2012/04/01
Students: 1 - 2
CFU: 10 - 20
Research Area: Robotics
Research Topic: none
Level: Bs, Ms
Type: Thesis
Status: Closed