2026-04-14T03:04:22Zhttps://recercat.cat/oai/request

oai:recercat.cat:2117/976732025-07-23T04:04:09Zcom_2072_1033col_2072_452951

Implementation of a Visual SLAM System Tarrasó Martínez, Jaime Andrade-Cetto, Juan Solà Ortega, Joan Àrees temàtiques de la UPC::Enginyeria civil::Geomàtica::Cartografia Cartography Cartografia The goal of this project is to develop a system to compute the position and orientation of an UAV using a monocular camera. To achieve that, the WOLF library will be used. WOLF is a library thought to solve generalized simultaneous localization and mapping (SLAM) and visual odometry problems. Derived classes will implement the algorithms needed to track features from the images obtained through the sensors. Constraints between the features and other features, or with landmarks, will be created to form a factor graph. An external solver will iterate to find the optimal state, by minimizing the cost associated to all the constraints. Ideally, our system can be used together with an inertial model measuring rotational velocities and translational accelerations, and tested with an unmanned aerial vehicle (UAV) in simulation and in real.environments. 2016-10-05 Master thesis https://hdl.handle.net/2117/97673 ETSEIB-240.120379 eng http://creativecommons.org/licenses/by-nc-nd/3.0/es/ Open Access application/pdf Universitat Politècnica de Catalunya