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Robustifying SLAM using multiple cameras
KTH, School of Computer Science and Communication (CSC).
2016 (English)Independent thesis Advanced level (degree of Master (Two Years)), 20 credits / 30 HE creditsStudent thesisAlternative title
Mer robust SLAM med flera kameror (Swedish)
Abstract [en]

This master thesis is about modifying a certain monocular visual SLAM algorithm to address some of its limitations. The SLAM algorithm is not robust to quick camera motions and input images in which there are few visible features. A second camera and an inertial measurement unit was added to the hardware. Then a method for selecting the appropriate camera for tracking depending on the estimated number of features was implemented to solve the issue of few features. Experiments and results show that this method works well for slow motions. A gyrometer threshold method along with a motion model to solve the issue of quick motions was implemented and reviewed in this thesis.

Abstract [sv]

Detta examensarbete handlar om att ta itu med några begränsningar som en viss monokulär visuell SLAM-algoritm har. SLAM-algoritmen är inte robust mot snabba kamerarörelser och indatabilder som innehåller få karaktärsdrag. Genom att introducera en extra kamera, en accelerometer och en gyrometer, behandlas dessa problem i denna rapport. En metod för att välja kamera att hämta indatabilder från, baserat på det skattade antalet karaktärsdrag i respektive bild implementerades. Denna metod är tänkt att lösa problemet då indatabilder har få karaktärsdrag. Experiment visar att denna metod fungerar bra för långsamma rörelser. En metod som jämför gyrometerdata med ett tröskelvärde tillsammans med en rörelsemodell implementerades för att lösa problemen vid snabb rörelse. Dessa metoder undersöks och diskuteras i rapporten.

Place, publisher, year, edition, pages
2016. , 57 p.
Keyword [en]
slam, keyframes, robust
National Category
Computer Science
Identifiers
URN: urn:nbn:se:kth:diva-191247OAI: oai:DiVA.org:kth-191247DiVA: diva2:955678
External cooperation
Ej namngivet företag
Educational program
Master of Science in Engineering - Computer Science and Technology
Supervisors
Examiners
Available from: 2016-08-26 Created: 2016-08-25 Last updated: 2016-08-26Bibliographically approved

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Sillén, Erik
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