Indoor localization system based on a gyro and visual passive markers

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

1. . Predict new robot pose
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.