Difference between revisions of "Indoor localization system based on a gyro and visual passive markers"
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Latest revision as of 13:33, 28 December 2011
Indoor localization system based on a gyro and visual passive markers
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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