Difference between revisions of "Indoor localization system based on a gyro and visual passive markers"
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(New page: == '''Part 1: project profile''' == === Project name === Indoor localization system based on a gyro and visual passive markers === Project short description === This project aims at deve...) |
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− | == | + | {{Project |
+ | |title=Indoor localization system based on a gyro and visual passive markers | ||
+ | |short_descr=This project aims at developing autonomous moving systems based on a gyro and passive markers | ||
+ | |tutor=MatteoMatteucci;SimoneCeriani;DavideMigliore | ||
+ | |students=DarioCecchetto;LorenzoConsolaro | ||
+ | |start=2009/06/01 | ||
+ | |end=2011/06/01 | ||
+ | |status=Closed | ||
+ | |level=Bs | ||
+ | |type=Thesis | ||
+ | }} | ||
− | === | + | ===What we use=== |
− | + | * Eclipse for C/C++ | |
+ | * OpenOCD | ||
+ | * An STR9 Cam based RVS module from ST | ||
+ | * A STM32 Gyroscope based RVS module from ST | ||
+ | * Kalman algorithm adapted for 2D. | ||
+ | * Fast algorithm for Landmarks recognition | ||
− | === Project short | + | ===The Project in short=== |
− | + | Using SLAM technique we want to develop an indoor system based on a gyroscope, an accelerometer and a camera. | |
− | |||
− | |||
− | + | ===SLAM Algorithm we use=== | |
+ | #. Predict new robot pose with Gyroscope | ||
+ | #. 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. | ||
− | === | + | ===References=== |
− | + | *MRPT 6D Full SLAM : http://babel.isa.uma.es/mrpt/index.php/6D-SLAM | |
− | + | *STM32 ST Page: http://www.st.com/mcu/inchtml-pages-stm32.html | |
− | * | + | *STR9 ST Page: http://www.st.com/mcu/inchtml-pages-str9.html |
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− | * | + | |
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Latest revision as of 13:33, 28 December 2011
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: | 2011/06/01 |
Status: | Closed |
Level: | Bs |
Type: | Thesis |
What we use
- Eclipse for C/C++
- OpenOCD
- An STR9 Cam based RVS module from ST
- A STM32 Gyroscope based RVS module from ST
- Kalman algorithm adapted for 2D.
- Fast algorithm for Landmarks recognition
The Project in short
Using SLAM technique we want to develop an indoor system based on a gyroscope, an accelerometer and a camera.
SLAM Algorithm we use
- . Predict new robot pose with Gyroscope
- . 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.
References
- MRPT 6D Full SLAM : http://babel.isa.uma.es/mrpt/index.php/6D-SLAM
- STM32 ST Page: http://www.st.com/mcu/inchtml-pages-stm32.html
- STR9 ST Page: http://www.st.com/mcu/inchtml-pages-str9.html