OPTIMIZATION IN MONOCULAR VISUAL ODOMETRY

Presently, the world of autonomous vehicle is rapidly advancing as day by day, the features in many aspects of the car are made smarter and improved for safety, convenience and comfort. Apart of it, localization is one particular aspect of an autonomous vehicle which is especially important as it wo...

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主要作者: GILDRON, DAVID
格式: Final Year Project Report
語言:English
English
出版: Universiti Malaysia Sarawak, (UNIMAS) 2022
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在線閱讀:http://ir.unimas.my/id/eprint/40104/1/Gildron%20David%2024pgs.pdf
http://ir.unimas.my/id/eprint/40104/7/Gildron%20David.pdf
http://ir.unimas.my/id/eprint/40104/
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spelling my.unimas.ir.401042024-01-10T07:32:18Z http://ir.unimas.my/id/eprint/40104/ OPTIMIZATION IN MONOCULAR VISUAL ODOMETRY GILDRON, DAVID Q Science (General) Presently, the world of autonomous vehicle is rapidly advancing as day by day, the features in many aspects of the car are made smarter and improved for safety, convenience and comfort. Apart of it, localization is one particular aspect of an autonomous vehicle which is especially important as it works to determine the precise location of the vehicle in the map, as maps are vitals nowadays to navigate. In details, the work of localization in the autonomous vehicle are done with visual odometry. As for this project, the focus is on monocular visual odometry (VO) as mono cameras are more preferred as for their low cost and easy to handle. The framework of the monocular visual odometry applied incorporated Oriented FAST and Rotated BRIEF (ORB) for the feature detection and the Flann-based matcher for feature matching. Optimizations done in this project was to tweak and adjust the system parameters which includes the value of features detected and distance between the matches, that is known as good matches. Overall, 3 different sequences from KITTI dataset are utilized in this simulation, the results were compared with the original system configuration and the ground truth. The optimized results show overall improvement of each individually sequence from their original ground truth. Entirely, the project aims to optimize the mono VO system which could help in the development of the mono VO in the future. Universiti Malaysia Sarawak, (UNIMAS) 2022 Final Year Project Report NonPeerReviewed text en http://ir.unimas.my/id/eprint/40104/1/Gildron%20David%2024pgs.pdf text en http://ir.unimas.my/id/eprint/40104/7/Gildron%20David.pdf GILDRON, DAVID (2022) OPTIMIZATION IN MONOCULAR VISUAL ODOMETRY. [Final Year Project Report] (Unpublished)
institution Universiti Malaysia Sarawak
building Centre for Academic Information Services (CAIS)
collection Institutional Repository
continent Asia
country Malaysia
content_provider Universiti Malaysia Sarawak
content_source UNIMAS Institutional Repository
url_provider http://ir.unimas.my/
language English
English
topic Q Science (General)
spellingShingle Q Science (General)
GILDRON, DAVID
OPTIMIZATION IN MONOCULAR VISUAL ODOMETRY
description Presently, the world of autonomous vehicle is rapidly advancing as day by day, the features in many aspects of the car are made smarter and improved for safety, convenience and comfort. Apart of it, localization is one particular aspect of an autonomous vehicle which is especially important as it works to determine the precise location of the vehicle in the map, as maps are vitals nowadays to navigate. In details, the work of localization in the autonomous vehicle are done with visual odometry. As for this project, the focus is on monocular visual odometry (VO) as mono cameras are more preferred as for their low cost and easy to handle. The framework of the monocular visual odometry applied incorporated Oriented FAST and Rotated BRIEF (ORB) for the feature detection and the Flann-based matcher for feature matching. Optimizations done in this project was to tweak and adjust the system parameters which includes the value of features detected and distance between the matches, that is known as good matches. Overall, 3 different sequences from KITTI dataset are utilized in this simulation, the results were compared with the original system configuration and the ground truth. The optimized results show overall improvement of each individually sequence from their original ground truth. Entirely, the project aims to optimize the mono VO system which could help in the development of the mono VO in the future.
format Final Year Project Report
author GILDRON, DAVID
author_facet GILDRON, DAVID
author_sort GILDRON, DAVID
title OPTIMIZATION IN MONOCULAR VISUAL ODOMETRY
title_short OPTIMIZATION IN MONOCULAR VISUAL ODOMETRY
title_full OPTIMIZATION IN MONOCULAR VISUAL ODOMETRY
title_fullStr OPTIMIZATION IN MONOCULAR VISUAL ODOMETRY
title_full_unstemmed OPTIMIZATION IN MONOCULAR VISUAL ODOMETRY
title_sort optimization in monocular visual odometry
publisher Universiti Malaysia Sarawak, (UNIMAS)
publishDate 2022
url http://ir.unimas.my/id/eprint/40104/1/Gildron%20David%2024pgs.pdf
http://ir.unimas.my/id/eprint/40104/7/Gildron%20David.pdf
http://ir.unimas.my/id/eprint/40104/
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