Autonomous navigaation system
The Inertial Measurement Unit (IMU) plays an important role in Simultaneous Localization and Mapping (SLAM) systems. The IMU provides information about the vehicle’s orientation and movement and together with other sensor information from cameras, LiDAR etc., the SLAM algorithm can perform precise m...
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Nanyang Technological University
2023
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| Online Access: | https://hdl.handle.net/10356/171958 |
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sg-ntu-dr.10356-1719582023-11-17T15:38:21Z Autonomous navigaation system Nah, Zheng Rong Lam Siew Kei School of Computer Science and Engineering ASSKLam@ntu.edu.sg Engineering::Computer science and engineering The Inertial Measurement Unit (IMU) plays an important role in Simultaneous Localization and Mapping (SLAM) systems. The IMU provides information about the vehicle’s orientation and movement and together with other sensor information from cameras, LiDAR etc., the SLAM algorithm can perform precise mapping of the environment and accurate estimation of the device's position and trajectory. In this project, the author aims to develop an IMU initialization method that can be performed while the IMU remains stationary. The IMU initialization method of the ORB-SLAM3 system was modified to allow the IMU to be initialized while stationary, for both the stereo and monocular SLAM systems. Bachelor of Engineering (Computer Engineering) 2023-11-17T06:36:59Z 2023-11-17T06:36:59Z 2023 Final Year Project (FYP) Nah, Z. R. (2023). Autonomous navigaation system. Final Year Project (FYP), Nanyang Technological University, Singapore. https://hdl.handle.net/10356/171958 https://hdl.handle.net/10356/171958 en SCSE22-0774 application/pdf Nanyang Technological University |
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Engineering::Computer science and engineering Nah, Zheng Rong Autonomous navigaation system |
| description |
The Inertial Measurement Unit (IMU) plays an important role in Simultaneous Localization and Mapping (SLAM) systems. The IMU provides information about the vehicle’s orientation and movement and together with other sensor information from cameras, LiDAR etc., the SLAM algorithm can perform precise mapping of the environment and accurate estimation of the device's position and trajectory. In this project, the author aims to develop an IMU initialization method that can be performed while the IMU remains stationary. The IMU initialization method of the ORB-SLAM3 system was modified to allow the IMU to be initialized while stationary, for both the stereo and monocular SLAM systems. |
| author2 |
Lam Siew Kei |
| author_facet |
Lam Siew Kei Nah, Zheng Rong |
| format |
Final Year Project |
| author |
Nah, Zheng Rong |
| author_sort |
Nah, Zheng Rong |
| title |
Autonomous navigaation system |
| title_short |
Autonomous navigaation system |
| title_full |
Autonomous navigaation system |
| title_fullStr |
Autonomous navigaation system |
| title_full_unstemmed |
Autonomous navigaation system |
| title_sort |
autonomous navigaation system |
| publisher |
Nanyang Technological University |
| publishDate |
2023 |
| url |
https://hdl.handle.net/10356/171958 |
| _version_ |
1783955619157377024 |