Simultaneous Localization And Mapping in a Marine Environment using Radar Images
Independent thesis Advanced level (professional degree), 20 credits / 30 HE creditsStudent thesis
Simultaneous Localization And Mapping (SLAM) is a process of mapping an unknown environment and at the same time keeping track of the position within this map. In this theses, SLAM is performed in a marine environent using radar images only.
A SLAM solution is presented. It uses SIFT to compare pairs of radar images. From these comparisons, measurements of the boat movements are obtained. A type of Kalman filter (Exactly Sparse Delayed-state Filter, ESDF) uses these measurements to estimate the trajectory of the boat. Once the trajectory is estimated, the radar images are joined together in order to create a map.
The presented solution is tested and the estimated trajectory is compared to GPS data. Results show that the method performs well for at least shorter periods of time.
Place, publisher, year, edition, pages
2009. , 54 p.
Signal processing, SLAM, Kalman filter, ESDF, Radar, Feature Extraction, SIFT
IdentifiersURN: urn:nbn:se:liu:diva-20845ISRN: LiTH-ISY-EX--09/4285--SEOAI: oai:DiVA.org:liu-20845DiVA: diva2:236527
Gustafsson, Fredrik, Professor