Difference between revisions of "Indoor localization system based on a gyro and visual passive markers"
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(→The Project in short) |
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===The Project in short=== | ===The Project in short=== | ||
| − | #. Predict new robot pose | + | #. Predict new robot pose |
| − | #. Modify the covariance | + | #. Modify the covariance |
#. For each of the M observed landmarks i: | #. For each of the M observed landmarks i: | ||
| − | ##. Compute hi | + | ##. Compute hi and its Jacobian. |
##. For each dimension j of the observation hi: | ##. For each dimension j of the observation hi: | ||
| − | ### Compute the scalar | + | ### Compute the scalar Sij |
| − | ### Computation of | + | ### Computation of Kij. |
| − | ### Update the filter state vector | + | ### Update the filter state vector |
| − | ### Update the filter covariance Pk | k | + | ### Update the filter covariance Pk | k |
#. If necessary, introduce new landmarks in the map. | #. If necessary, introduce new landmarks in the map. | ||
Revision as of 09:56, 4 June 2010
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: | 2010/04/25 |
| Status: | Active |
| Level: | Bs |
| Type: | Thesis |
What we use
- Eclipse for C/C++
- An STR9 Cam based module from ST
- A STM32 Gyroscope based module from ST
The Project in short
- . Predict new robot pose
- . 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.
