Simultaneous localization and mapping for vehicles using ORB-SLAM2

Examensarbete för masterexamen

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Type: Examensarbete för masterexamen
Master Thesis
Title: Simultaneous localization and mapping for vehicles using ORB-SLAM2
Authors: Andersson, Marcus
Baerveldt, Martin
Abstract: This thesis details work developing a containerized version of ORB-SLAM2 implemented in the open source software framework OpenDLV as well as testing it both on established datasets as well as on gathered data in a real traffic scenario in the Gothenburg area. Parallel to the real traffic scenarios this thesis also evaluates the feasibility for ORB-SLAM2 to be run on a formula student race car, due to the authors involvement in the Chalmers formula student driverless project which will compete with an autonomous race car in the formula student germany competition. The thesis also evaluates ORB-SLAM2 as a SLAM solution on a regular car and the strengths and weaknesses of the system in that area.
Keywords: Informations- och kommunikationsteknik;Transport;Bildanalys;Robotteknik och automation;Inbäddad systemteknik;Farkostteknik;Information & Communication Technology;Transport;Image analysis;Robotics;Embedded Systems;Vehicle Engineering
Issue Date: 2018
Publisher: Chalmers tekniska högskola / Institutionen för mekanik och maritima vetenskaper
Chalmers University of Technology / Department of Mechanics and Maritime Sciences
Series/Report no.: Master's thesis - Department of Mechanics and Maritime Sciences : 2018:85
Collection:Examensarbeten för masterexamen // Master Theses

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