Difference between revisions of "Indoor localization system based on a gyro and visual passive markers"

From AIRWiki
Jump to: navigation, search
m
m
 
(13 intermediate revisions by 3 users not shown)
Line 1: Line 1:
== '''Part 1: project profile''' ==
+
{{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
 +
}}
  
=== Project name ===
+
===What we use===
Indoor localization system based on a gyro and visual passive markers
+
* 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 description ===
+
===The Project in short===
This project aims at developing autonomous moving systems based on a gyro and passive markers
+
Using SLAM technique we want to develop an indoor system based on a gyroscope, an accelerometer and a camera.
  
=== Dates ===
 
Start date: June 2009
 
  
End date: N.A.
+
===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.
  
=== People involved ===
+
===References===
 
+
*MRPT 6D Full SLAM : http://babel.isa.uma.es/mrpt/index.php/6D-SLAM
===== Project head(s) =====
+
*STM32 ST Page: http://www.st.com/mcu/inchtml-pages-stm32.html
* [[User:SimoneCeriani|Simone Ceriani]]
+
*STR9 ST Page: http://www.st.com/mcu/inchtml-pages-str9.html
 
+
* [[User:DavideMigliore|Davide Migliore]]
+
 
+
===== Students currently working on the project =====
+
 
+
* [[User:LorenzoConsolaro|Lorenzo Consolaro]]
+
 
+
* [[User:DarioCecchetto|Dario Cecchetto]]
+
 
+
== '''Part 2: Project's developing Full Description''' ==
+
=== Step 1 - Collecting Informations ===
+

Latest revision as of 12:33, 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

  1. . Predict new robot pose with Gyroscope
  2. . Modify the covariance
  3. . For each of the M observed landmarks i:
    1. . Compute hi and its Jacobian.
    2. . For each dimension j of the observation hi:
      1. Compute the scalar Sij
      2. Computation of Kij.
      3. Update the filter state vector
      4. Update the filter covariance Pk | k
  4. . If necessary, introduce new landmarks in the map.

References