Embedded SLAM algorithm based on ORB-SLAM2

Chiocci, Luigi (2023) Embedded SLAM algorithm based on ORB-SLAM2. [Laurea magistrale], Università di Bologna, Corso di Studio in Automation engineering / ingegneria dell’automazione [LM-DM270]
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The goal of this dissertation was to present a comprehensive analysis of the ORB-SLAM2 algorithm. By introducing the basis of points triangulation and ORB features, the whole structure of the algorithm has been analyzed, with a centralized focus on the graph-based optimization involved, as well as the place recognition mechanism. Additionally, the original code has been analyzed and optimized, resulting in a substantial increase in time performance while keeping a similar accuracy to the original one, proved by several simulations performed. The final goal of this thesis has been the testing of the obtained algorithm on a real quadcopter and the analysis of its outcomes: the results were affected by the limited computational resources available in the vehicle, obtaining a lower accuracy with respect to the simulation, but still proving the efficiency of the improvements applied on the original code.

Tipologia del documento
Tesi di laurea (Laurea magistrale)
Autore della tesi
Chiocci, Luigi
Relatore della tesi
Correlatore della tesi
Corso di studio
Ordinamento Cds
Parole chiave
SLAM,ORB,ORB-SLAM2,DBOW,Graph-based Optimization
Data di discussione della Tesi
14 Ottobre 2023

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