<p>Simultaneous Localization And Mapping (SLAM) is a process of mapping an unknown environment and at the same time keeping track of the position within this map. In this theses, SLAM is performed in a marine environent using radar images only.</p><p>A SLAM solution is presented. It uses SIFT to compare pairs of radar images. From these comparisons, measurements of the boat movements are obtained. A type of Kalman filter (Exactly Sparse Delayed-state Filter, ESDF) uses these measurements to estimate the trajectory of the boat. Once the trajectory is estimated, the radar images are joined together in order to create a map.</p><p>The presented solution is tested and the estimated trajectory is compared to GPS data. Results show that the method performs well for at least shorter periods of time.</p>
| Identifer | oai:union.ndltd.org:UPSALLA/oai:DiVA.org:liu-20845 |
| Date | January 2009 |
| Creators | Svensson, Henrik |
| Publisher | Linköping University, Automatic Control |
| Source Sets | DiVA Archive at Upsalla University |
| Language | English |
| Detected Language | English |
| Type | Student thesis, text |
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