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Investigating Simultaneous Localization and Mapping for an Automated Guided Vehicle
Linköpings universitet, Institutionen för systemteknik, Reglerteknik.
2019 (engelsk)Independent thesis Advanced level (degree of Master (Two Years)), 20 poäng / 30 hpOppgave
Abstract [en]

The aim of the thesis is to apply simultaneous localization and mapping (SLAM) to automated guided vehicles (AGVs) in a Robot Operating System (ROS) environment. Different sensor setups are used and evaluated. The SLAM applications used is the open-source solution Cartographer as well as Intel's own commercial SLAM in their T265 tracking camera. The different sensor setups are evaluated based on how well the localization will give the exact pose of the AGV in comparison to another positioning system acting as ground truth. 

sted, utgiver, år, opplag, sider
2019. , s. 53
Emneord [en]
SLAM, AGV, 3D Camera, LIDAR, Google Cartographer
HSV kategori
Identifikatorer
URN: urn:nbn:se:liu:diva-163075ISRN: LiTH-ISY-EX--20/5272--SEOAI: oai:DiVA.org:liu-163075DiVA, id: diva2:1384360
Eksternt samarbeid
Flexqube AB
Fag / kurs
Automatic Control
Presentation
2019-12-20, Transistorn, B-Huset, Campus Valla, Linköping, 16:09 (engelsk)
Veileder
Examiner
Tilgjengelig fra: 2020-01-10 Laget: 2020-01-09 Sist oppdatert: 2020-01-10bibliografisk kontrollert

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