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Title: Advanced vision-based localization and mapping
Authors: Foo, Sheng Cong
Keywords: DRNTU::Engineering::Electrical and electronic engineering
Issue Date: 2019
Abstract: Simultaneous localisation and mapping (SLAM) is the computational problem of constructing or updating a map of an unknown environment while simultaneously keeping track of an agent’s location within it, usually a robot. This project aims to build and implement a visual based localization system with just using a Red Blue Green Depth (RGB-D) camera and an Altitude and Heading Reference System (AHRS). Real-Time Appearance-Based Mapping (RTAB-Map) was the chosen SLAM solution after a brief comparison with the rest. Within RTAB-Map, we researched and implemented various SLAM algorithms like SURF, ORB, etc. This system will only be tested in an indoor environment, as it makes full use of the RGB-D camera’s capabilities. The results will then be compared with other SLAM algorithms provided in RTAB-Map and the RTAB-Map parameters will be adjusted to improve the accuracy of the results.
Schools: School of Electrical and Electronic Engineering 
Rights: Nanyang Technological University
Fulltext Permission: restricted
Fulltext Availability: With Fulltext
Appears in Collections:EEE Student Reports (FYP/IA/PA/PI)

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