| Popis: |
Cilj rada bio je lokalizacija mobilnog robota opremljenog stereo kamerom i laserskim senzorom u prethodno izgrađenoj karti. Opisani su pojmovi i algoritmi vizualne odometrije i izgradnje karte, te stereo kamera i LIDAR potrebni za njihovu implementaciju. Okolina korištena za primjenu algoritama je simulator autonomne vožnje CARLA, integriran s alatom za programiranje robota ROS. Provedeni su eksperimenti u simulatoru su te je dana analiza dobivenih rezultata kao greška lokalizacije u odnosu na referentne podatke. The aim of the thesis was localization of mobile robot equipped with stereo camera and laser sensor in the previously built map. The concepts and algorithms of visual odometry and map building are described, as well as stereo camera and LIDAR required for their implementation. The environment used for application of the algorithms is autonomous driving simulator CARLA, integrated with robot programming tool ROS. Experimental evaluation in the simulator is performed and the analysis of the obtained results as a localization error in relation to the ground truth is presented. |
