Naslov
Fuzija podataka radar-IMU-kamera sustava za estimaciju vlastitog gibanja
(Radar-IMU-camera system data fusion for ego-motion estimation)

Autori
Štironja, Vlaho-Josip

Vrsta, podvrsta i kategorija rada
Ocjenski radovi, diplomski rad, preddiplomski

Mjesto
Zagreb

Datum
12.07

Godina
2022

Stranica
38

Mentor
Marković, Ivan

Neposredni voditelj
Peršić, Juraj

Ključne riječi
Radar ; Kamera ; Inercijalna mjerna jedinica ; Fuzija senzora ; Kalmanov filtar ; Estimacija stanja
(Radar ; Camera ; Inertial measurement unit ; Sensor fusion ; Kalman filtar ; State estimation)

Sažetak
Knowledge of ego-motion is a key task for all autonomous mobile robots. For that purpose, one usually uses sensors like cameras, inertial measurement units (IMU), and lidars. Given recent developments, novel research is also targeting radars for ego-motion estimation due to their robustness to environmental conditions. Different sensors measure different physical properties of the environment or inner system states. Thus their limitations and the extent of operating conditions can differ substantially. By fusing different sensors, we can increase the system's robustness and extend operating conditions. The goal of this thesis is to estimate the ego-motion of a sensor platform by fusing radar, camera, and IMU data. To that end, novel dataset collection will be required through which fusion can be carried out and accuracy analyzed.

Izvorni jezik
Engleski

Znanstvena područja
Elektrotehnika, Računarstvo, Temeljne tehničke znanosti

POVEZANOST RADA