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Visual SLAM using sparse maps based on featurepoints
Halmstad University, School of Information Technology, Halmstad Embedded and Intelligent Systems Research (EIS). (-)
Halmstad University, School of Information Technology, Halmstad Embedded and Intelligent Systems Research (EIS). (-)
2017 (English)Independent thesis Advanced level (degree of Master (Two Years)), 20 credits / 30 HE creditsStudent thesis
Abstract [en]

Visual Simultaneous Localisation And Mapping is a useful tool forcreating 3D environments with feature points. These visual systemscould be very valuable in autonomous vehicles to improve the localisation.Cameras being a fairly cheap sensor with the capabilityto gather a large amount of data. More efficient algorithms are stillneeded to better interpret the most valuable information. This paperanalyses how much a feature based map can be reduced without losingsignificant accuracy during localising.

Semantic segmentation created by a deep neural network is used toclassify the features used to create the map, the map is reduced by removingcertain classes. The results show that feature based maps cansignificantly be reduced without losing accuracy. The use of classesresulted in promising results, large amounts of feature were removedbut the system could still localise accurately. Removing some classesgave the same results or even better in certain weather conditionscompared to localisation with a full-scale map.

Place, publisher, year, edition, pages
2017. , 67 p.
Keyword [en]
ORB-SLAM2, Reduced map, Localisation
National Category
Computer Systems Robotics
Identifiers
URN: urn:nbn:se:hh:diva-34681OAI: oai:DiVA.org:hh-34681DiVA: diva2:1129697
Subject / course
Information Technology
Educational program
Master's Programme in Embedded and Intelligent Systems, 120 credits
Presentation
2017-06-02, Halmstad Högskola, Halmstad, 09:00 (English)
Supervisors
Examiners
Available from: 2017-08-16 Created: 2017-08-06 Last updated: 2017-08-16Bibliographically approved

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CiteExportLink to record
Permanent link

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Cite
Citation style
  • apa
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf