This thesis report aims to explain the research, implementation, and testing of a monocular SLAM system in an application developed by Voysys AB called Oden, as well as the making and investigation of a new data set used to test the SLAM system. Using CUDASIFT to find and match feature points, OpenCV to compute the initial guess, and the Ceres Solver to optimize the results. / <p>Examensarbetet är utfört vid Institutionen för teknik och naturvetenskap (ITN) vid Tekniska fakulteten, Linköpings universitet</p>
| Identifer | oai:union.ndltd.org:UPSALLA1/oai:DiVA.org:liu-190543 |
| Date | January 2022 |
| Creators | Martinsson, Jesper |
| Publisher | Linköpings universitet, Medie- och Informationsteknik, Linköpings universitet, Tekniska fakulteten |
| Source Sets | DiVA Archive at Upsalla University |
| Language | English |
| Detected Language | English |
| Type | Student thesis, info:eu-repo/semantics/bachelorThesis, text |
| Format | application/pdf |
| Rights | info:eu-repo/semantics/openAccess |
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