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Scan Matching Odometry and Multisensor SLAM
PrjCFUMax 20  +
PrjCFUMin 10  +
PrjDescription Starting from some C/C++ code for laser sc … 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. '''Material:''' *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 man filtering *C++ programming under Linux
PrjImage Image:ScanMatching.jpg  +
PrjLevel Bachelor of Science + , Master of Science +
PrjResArea Robotics +
PrjResTopic None +
PrjStarts 1 April 2012  +
PrjStatus Closed  +
PrjStudMax 2  +
PrjStudMin 1  +
PrjTitle Scan Matching Odometry and Multisensor SLAM  +
PrjTutor User:MatteoMatteucci + , User:SimoneCeriani + , User:DavideCucci +
PrjType Thesis +
Categories ProjectProposal  +
Modification¬†dateThis property is a special property in this wiki. 21 December 2014 23:42:29  +
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