Graph-based SLAM on Normal Distributions Transform Occupancy Map
| Thesis title in Czech: | Grafový SLAM na NDT mapách |
|---|---|
| Thesis title in English: | Graph-based SLAM on Normal Distributions Transform Occupancy Map |
| Key words: | SLAM NDT ROS robot localization and mapping incremental scan matching |
| English key words: | SLAM NDT ROS robot localization and mapping incremental scan matching |
| Academic year of topic announcement: | 2015/2016 |
| Thesis type: | Bachelor's thesis |
| Thesis language: | angličtina |
| Department: | Department of Theoretical Computer Science and Mathematical Logic (32-KTIML) |
| Supervisor: | RNDr. David Obdržálek, Ph.D. |
| Author: | hidden - assigned and confirmed by the Study Dept. |
| Date of registration: | 26.05.2016 |
| Date of assignment: | 27.05.2016 |
| Confirmed by Study dept. on: | 22.06.2016 |
| Date and time of defence: | 08.09.2016 00:00 |
| Date of electronic submission: | 28.07.2016 |
| Date of submission of printed version: | 28.07.2016 |
| Date of proceeded defence: | 08.09.2016 |
| Opponents: | Mgr. Jindřich Vodrážka |
| Guidelines |
| The goal of this work is to develop an implementation of Graph-Based SLAM (Simultaneous Localization and Mapping) on NDT (Normal Distributions Transform) Maps.
Pilot implementation shall be made for the use with ROS (Robot Operating System). The resulting system should be compared with other implementations of SLAM algorithm in ROS. |
| References |
| T. Stoyanov, J. Saarinen, H. Andreasson and A. J. Lilienthal, Normal Distributions Transform Occupancy Map fusion: Simultaneous mapping and tracking in large scale dynamic environments, 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems, Tokyo, 2013, pp. 4702-4708. ISSN: 2153-0858
Quigley, Morgan; Conley, Ken; Gerkey, Brian; Faust, Josh; Foote, Tully; Leibs, Jeremy; Wheeler, Rob; Ng, Andrew Y: ROS: an open-source Robot Operating System, ICRA workshop on open source software, 2009 G. Grisetti, R. Kummerle, C. Stachniss and W. Burgard, A Tutorial on Graph-Based SLAM, in IEEE Intelligent Transportation Systems Magazine, vol. 2, no. 4, pp. 31-43, winter 2010. ISSN: 1939-1390 C.Stachniss, Robotic Mapping and Exploration, Springer 2009, ISBN 978-3-642-01096-5 B.Siciliano, O.Khatib, Handbook of Robotics, Springer 2008, ISBN 978-3-540-23957-4 |