Towards 6D SLAM with ground truth integration
Independent thesis Advanced level (degree of Master (Two Years)), 20 credits / 30 HE creditsStudent thesis
The simultaneous localization and mapping method with six dimensional poses is capable ofcreating a three dimensional map of the environment, as well as estimating the six dimensionalpath that the vehicle has travelled. The method has many terrestrial applications and is boundto find its place in extraterrestrial exploration as well. One approach that could drasticallyimprove the reliability of acquired data is to integrate available ground truth information. Thisthesis seeks to evaluate possible ways of achieving this.The first chapter introduces the reader to the topic, as well as explores different approachesof doing simultaneous localization and mapping. After that, in the first part of the thesis, theused methods are described, the development of two novel pose fixing methods presented andpossible approaches to ground truth data incorporation examined.The second part of the thesis presents experimental results. Both pose fixing implementationshave been successfully tested and validated using two datasets with differing characteristics. Theresults reveal that one of the developed pose fixing methods is more reliable in most situationsthan the other, while the other method is more general and is applicable for any graph basedSLAM implementation. The third experiment has failed to validate the proposed ground truthintegration method for semi-rigid SLAM.The conclusion chapter provides discussion of the advantages of each of the developed posefixing methods, examines the possible reasons of failure of the third experiment, as well asprovides a roadmap for future research in this field.
Place, publisher, year, edition, pages
2015. , 75 p.
Technology, SLAM, 6D SLAM, LIDAR, point cloud, scan matching, ground truth, surveying
IdentifiersURN: urn:nbn:se:ltu:diva-46216Local ID: 3dcd198f-d271-410f-b8cf-8fa40cef7b18OAI: oai:DiVA.org:ltu-46216DiVA: diva2:1019529
Subject / course
Student thesis, at least 30 credits
Space Engineering, master's level
Validerat; 20150109 (global_studentproject_submitter)2016-10-042016-10-04Bibliographically approved