Ricardo B. Sousa PhD Thesis: 2D Laser Odometry-Only Tracker (Raw Version 0.1) скачать в хорошем качестве

Ricardo B. Sousa PhD Thesis: 2D Laser Odometry-Only Tracker (Raw Version 0.1)

This video represents a 2D pose tracker using the laser odometry estimation of the robot pose. Work in the scope of the PhD internship at Sapienza Università di Roma with Prof. Dr. Giorgio Grisetti ( https://sites.google.com/dis.uniroma1... ). This tracker only considers a single keyframe, instead of a sliding window approach (though the later would probably reduce even further the drift on the laser odometry-only results). The results shown in the video compared to the version 0.0 represent the improvements on the matching, while being able to reduce the keyframe change. Lastly, it should be noted that the tracker for localization should have different parameters compared to mapping (at least w/ single keyframe): first desired less keyframe change to accumulate less error versus having denser map by changing more the keyframe and compensate the drift with loop closure. Left window: keyframe change of the laser odometry tracker. Center window: results of accumulating the point clouds of a 2D laser scanner assuming wheeled odometry-only pose estimation. Right window: results of accumulating the point clouds of a 2D laser scanner assuming 2D laser scanner odometry-only pose estimation. PhD Candidate Ricardo B. Sousa (0000-0003-4537-5095) ( https://sousarbarb.github.io/ ) Supervisor at Sapienza: Prof. Dr. Giorgio Grisetti (0000-0002-8038-9989), Sapienza Università di Roma Supervisors at FEUP / INESC TEC: Prof. Dr. António Paulo Moreira (0000-0001-8573-3147), FEUP & INESC TEC Senior Researcher Héber M. Sobreira, PhD (0000-0002-8055-1093), INESC TEC Prof. Dr. Manuel F. Silva (0000-0002-0593-2865), ISEP & INESC TEC Hosting Faculty: Faculty of Engineering of the University of Porto (FEUP) ( https://sigarra.up.pt/feup/en/ ) Hosting Institution: CRIIS - Centre for Robotics in Industry and Intelligent Systems ( https://www.inesctec.pt/en/centres/criis ) from INESC TEC - Institute for Systems and Computer Engineering, Technology and Science ( https://www.inesctec.pt/en )