Scan Matching Odometry and Multisensor SLAM - Revision history

MatteoMatteucci at 23:42, 21 December 2014

2014-12-21T23:42:29Z

MatteoMatteucci at 16:04, 16 April 2012

2012-04-16T16:04:39Z

MatteoMatteucci at 16:00, 16 April 2012

2012-04-16T16:00:24Z

MatteoMatteucci: Created page with "{{ProjectProposal |title=Scan Matching Odometry and Multisensor SLAM |image=ScanMatching.jpg |description=Starting from some C/C++ code for laser scan alignment and the covari..."

2012-04-16T15:58:22Z

Created page with "{{ProjectProposal |title=Scan Matching Odometry and Multisensor SLAM |image=ScanMatching.jpg |description=Starting from some C/C++ code for laser scan alignment and the covari..."

New page

{{ProjectProposal
|title=Scan Matching Odometry and Multisensor SLAM
|image=ScanMatching.jpg
|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 (www.ros.org) 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.

tesi specialistica Brenna
tesi primo livello Luperto - Mazuran

Codice da cui partire
codice Brenna
codice Luperto - Mazuran

'''Material:'''
*a MS thesis which describes the scan matching algorithms
*a BS thesis which implements a prototype of the system

'''Expected outcome:'''
*a complete systema that build maps integrating laser scan and visual informtion

'''Required skills or skills to be acquired:'''

|tutor=MatteoMatteucci;SimoneCeriani
|start=2012/04/01
|studmin=1
|studmax=2
|cfumin=10
|cfumax=20
|resarea=Robotics
|restopic=none
|level=Bs;Ms
|type=Thesis
|status=Active
}}

@@ Line 25: / Line 25: @@
 |level=Bs;Ms
 |type=Thesis
-|status=Active
+|status=Closed
 }}

@@ Line 15: / Line 15: @@
 *C++ programming under Linux
-|tutor=MatteoMatteucci;SimoneCeriani
+|tutor=MatteoMatteucci;SimoneCeriani;DavideCucci
 |start=2012/04/01
 |studmin=1

@@ Line 3: / Line 3: @@
 |image=ScanMatching.jpg
 |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 (www.ros.org) 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:'''
@@ Line 16: / Line 9: @@
 '''Expected outcome:'''
-*a complete systema that build maps integrating laser scan and visual informtion
+*a complete system that build maps integrating laser scan and visual informtion
 '''Required skills or skills to be acquired:'''
+*Background on Kalman filtering
 |tutor=MatteoMatteucci;SimoneCeriani