Naslov
Computor vision based indoor navigation system for ship model

Autori
Kučić, Mario

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

Fakultet
Pomorski fakultet

Mjesto
Rijeka

Datum
06.11

Godina
2019

Stranica
89

Mentor
Valčić, Marko

Ključne riječi
Computer Vision, Estimation, Kalman Filter, Particle Filter

Sažetak
The subject of the bachelor thesis is sensory support for a navigation system. The final goal is the development of an algorithm on around stereo cameras to accurately estimate the internal velocities and orientation of the ship model. Except for the stereo camera, on the ship model is installed accelerometer, gyroscope, and magnetometer. To improve the accuracy of estimation, sensors are fused using Kalman and particle filter. Sensors are placed on the ship model, and the system is tested in a basin. Experiments were done in calm water conditions and wavy water conditions. Accuracy validation of estimations are done using an optical camera placed above the basin.

Izvorni jezik
Engleski

Znanstvena područja
Tehnologija prometa i transport

POVEZANOST RADA