dc.contributorGamarra, Daniel Fernando Tello
dc.creatorPereira, Mateus Osvaldo Klan
dc.date.accessioned2023-08-09T15:11:30Z
dc.date.accessioned2023-09-04T20:05:32Z
dc.date.available2023-08-09T15:11:30Z
dc.date.available2023-09-04T20:05:32Z
dc.date.created2023-08-09T15:11:30Z
dc.date.issued2023-07-14
dc.identifierPEREIRA, M. O. K. Comparativo de algoritmos de localização e mapeamento simultâneos monoculares dynaslam e ORB-SLAM3 em ambientes internos e externos. 2023. 70 p. Trabalho de Conclusão de Curso (Graduação em Engenharia de Controle e Automação) - Universidade Federal de Santa Maria, Santa Maria, RS, 2023.
dc.identifierhttp://repositorio.ufsm.br/handle/1/29887
dc.identifier.urihttps://repositorioslatinoamericanos.uchile.cl/handle/2250/8629124
dc.description.abstractThis work focuses on comparing two visual Simultaneous Localization and Mapping (vSLAM) algorithms: ORB-SLAM3 and DynaSLAM, utilizing simulations with a monocular camera. ORB-SLAM3 is an open-source library known for its monocular vSLAM capabilities and is an evolution of the well-regarded ORB-SLAM2. In contrast, DynaSLAM extends ORB-SLAM2 by incorporating Mask R-CNN for dynamic object detection, filtering, and segmentation. Both algorithms were tested and evaluated using sequences of monocular images from two popular datasets, KITTI and TUM RGB-D as well as simulation environments with ROS on the Gazebo 3D software. The experiments demonstrate the efficiency of the vSLAM algorithms. The results reveal that DynaSLAM consistently outperforms ORBSLAM3 in the majority of cases. Overall, this research contributes to the understanding of these vSLAM methods, providing insights into their performance and highlighting the advantages and disadvantages of DynaSLAM over ORB-SLAM3 in various scenarios.
dc.publisherUniversidade Federal de Santa Maria
dc.publisherBrasil
dc.publisherUFSM
dc.publisherCentro de Tecnologia
dc.rightshttp://creativecommons.org/licenses/by-nc-nd/4.0/
dc.rightsAcesso Aberto
dc.rightsAttribution-NonCommercial-NoDerivatives 4.0 International
dc.subjectvSLAM
dc.subjectORB-SLAM3
dc.subjectDynaSLAM
dc.subjectMonocular
dc.titleComparativo de algoritmos de localização e mapeamento simultâneos monoculares dynaslam e ORB-SLAM3 em ambientes internos e externos
dc.typeTrabalho de Conclusão de Curso de Graduação


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