liu.seSearch for publications in DiVA
Change search
ReferencesLink to record
Permanent link

Direct link
Improving SLAM on a TOF Camera by Exploiting Planar Surfaces
Linköping University, Department of Electrical Engineering, Computer Vision.
2016 (English)Independent thesis Advanced level (degree of Master (Two Years)), 20 credits / 30 HE creditsStudent thesis
Abstract [en]

Simultaneous localization and mapping (SLAM) is the problem of mapping your surroundings while simultaneously localizing yourself in the map. It is an important and active area of research for robotics. In this master thesis two approaches are attempted to reduce the drift which appears over time in SLAM algorithms. The first approach tries 3 different motion models for the camera. Two of the models exploit the a priori knowledge that the camera is mounted on a trolley. These two methods are shown to improve the results. The second approach attempts to reduce the drift by reducing noise in the point cloud data used for mapping. This is done by finding planar surfaces in the point clouds. Median filtering is used as an alternative to compare the result for noise reduction. The planes estimation approach is also shown to reduce the drift, while the median estimation makes it worse.

Abstract [sv]

Simultaneous localization and mapping (SLAM) är problemet att kartlägga sin omgivning samtidigt som man lokaliserar sig själv i kartan. Det är ett viktigt och aktivt forskningsområde inom robotik. I det här exjobbet testas två tillvägagångssätt för att minska felet i kameraposition och orientering som uppstår över tiden i SLAM-lösningar. Det första tillvägagångssättet testar 3 olika rörelsemodeller för kameran. Två av modellerna utnyttjar vetskapen om att kameran sitter monterad på en vagn. Dessa två metoder förbättrar resultatet för SLAM-algoritmen. Det andra tillväggagångssättet försöker minska felet genom att reducera bruset i punktmolnsdatan som används i kartläggningen. Det görs genom att hitta plana ytor i punktmolnen. Medianfiltrering används som en alternativ lösning för att jämföra hur bra planestimeringen står sig. Planestimeringen visar sig också minska felet i lösningen, medan medianfiltreringen endast försämrar resultatet.

Place, publisher, year, edition, pages
2016. , 43 p.
Keyword [en]
SLAM; Plane estimation; time-of-flight
Keyword [sv]
National Category
Other Electrical Engineering, Electronic Engineering, Information Engineering
URN: urn:nbn:se:liu:diva-131005ISRN: LiTH-ISY-EX--16/4984--SEOAI: diva2:957728
External cooperation
Subject / course
Computer Vision Laboratory
2016-08-22, Algoritmen, Linköping, 10:00 (Swedish)
Available from: 2016-09-05 Created: 2016-09-04 Last updated: 2016-09-05Bibliographically approved

Open Access in DiVA

improving_slam_on_a_tof_camera_by_exploiting_planar_surfaces.pdf(41131 kB)18 downloads
File information
File name FULLTEXT01.pdfFile size 41131 kBChecksum SHA-512
Type fulltextMimetype application/pdf

Search in DiVA

By author/editor
Bondemark, Richard
By organisation
Computer Vision
Other Electrical Engineering, Electronic Engineering, Information Engineering

Search outside of DiVA

GoogleGoogle Scholar
Total: 18 downloads
The number of downloads is the sum of all downloads of full texts. It may include eg previous versions that are now no longer available

Total: 138 hits
ReferencesLink to record
Permanent link

Direct link