Trabalho de Conclusão de Curso de Graduação
Sistema de localização e mapeamento simultâneo visual aplicado para robótica móvel
Fecha
2022-09-03Registro en:
JESUS, K. J. de. Sistema de localização e mapeamento simultâneo visual aplicado para robótica móvel. 2022. 76 p. Trabalho de Conclusão de Curso (Graduação em Engenharia de Controle e Automação)- Universidade Federal de Santa Maria, Santa Maria, RS, 2022.
Autor
Jesus, Kesse Jonatas de
Institución
Resumen
The work will use a mobile robot to do the task of mapping the environment around it, generating a 3D illustration in real time, the Gazebo software will be used and the ROS system (Robot Operating System) that will allow us to visualize the results of the simulations. It was used simulated camera in the Linux Ubuntu version 16.04 system with the kinetic distribution of ROS and the RTAB-MAP SLAM, ORB-SLAM2 and DeepVO algorithms. This work will present three visual SLAM algorithms, RTAB-MAP, ORB-SLAM2 and DeepVO. It was carried out the comparison between the RTAB-Map and ORB-SLAM2 for testing your accuracy in RGB-D and stereo cameras for real and simulated environment with indoor and outdoor environment.