Publicação
3D mapping of an AGV’s environment
| Resumo: | The present report, final work in the Integrated Bachelor and Masters degree in Mechanical Engineering, features the research done on Simultaneous Localization And Mapping using visual input, an increasingly important area due to the rise of smaller and lighter autonomous vehicles and mixed reality software. The research started with the analysis of hardware from a theoretical and practical point of view, as well as some of the available software solutions to the problem. These solutions were then tested in the large scale environment of a factory, so final conclusions about their performance could be taken. The determined best available software and hardware combinations were then applied to perform a 3D scan of a room, as an application example. |
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| Autores principais: | Power, Francisco Carlos Coutinho Castel-Branco |
| Assunto: | Internship Visual SLAM Cameras ORB-SLAM3 RTAB-Map Intel RealSense |
| Ano: | 2021 |
| País: | Portugal |
| Tipo de documento: | dissertação de mestrado |
| Tipo de acesso: | acesso embargado |
| Instituição associada: | Universidade de Aveiro |
| Idioma: | inglês |
| Origem: | RIA - Repositório Institucional da Universidade de Aveiro |
| Resumo: | The present report, final work in the Integrated Bachelor and Masters degree in Mechanical Engineering, features the research done on Simultaneous Localization And Mapping using visual input, an increasingly important area due to the rise of smaller and lighter autonomous vehicles and mixed reality software. The research started with the analysis of hardware from a theoretical and practical point of view, as well as some of the available software solutions to the problem. These solutions were then tested in the large scale environment of a factory, so final conclusions about their performance could be taken. The determined best available software and hardware combinations were then applied to perform a 3D scan of a room, as an application example. |
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