We developed a software able to establish geometric constraints for a localization problem from raw GPS measurements. Then we integrated it in Wolf, a software framework for managing SLAM, enriching its sensor fusion capabilities. In the end we tested the sensor fusion between raw GPS and odometry

Sensor Fusion of Raw GPS Measurements for Autonomous Vehicle Localization

Tirindelli, Pier
2016/2017

Abstract

We developed a software able to establish geometric constraints for a localization problem from raw GPS measurements. Then we integrated it in Wolf, a software framework for managing SLAM, enriching its sensor fusion capabilities. In the end we tested the sensor fusion between raw GPS and odometry
Scuola di Ingegneria
INGEGNERIA INFORMATICA
2016-07-12
mobile robotics, SLAM, sensor fusion, GPS, raw, raw GPS, pseudorange, odometry, autonomous vehicle, localization, ROS, ceres, GPSTk
Lauree magistrali
File in questo prodotto:
File Dimensione Formato  
tesi_tirindelli_pier.pdf

accesso aperto

Dimensione 3.04 MB
Formato Adobe PDF
Visualizza/Apri
3.04 MB Adobe PDF Visualizza/Apri

The text of this website © Università degli studi di Padova. Full Text are published under a non-exclusive license. Metadata are under a CC0 License

Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/20.500.12608/26490