资源描述：
《Simultaneous Localization and Mapping同时定位与制图》由会员上传分享，免费在线阅读，更多相关内容在学术论文-天天文库。
1、SimultaneousLocalizationandMappingLow-costSolutionBasedonHUAWEIP9VE/VM450CapstoneDesignProjectsSummer2016ProjectDuration:ththMay16,2016—Aug10,2016FinalProjectReportPreparedby:JieMeiJunjieShenXiChenYiZhangYuhaoLiUndergraduateEngineeringStudentsUM-SJTUJointIn
2、stituteTeam10Preparedfor:Dr.ChengbinMaAssistantProfessor,VM450CourseCoordinatorUM-SJTUJointInstituteMr.ZhijieWangCompanyMentorHuaweiIoVInnovationCentreAbstractInthisproject,wearegoingtofocusonthepossibilityofSLAMalgorithmonHUAWEIP9.Thegoalistodevelopamobile
3、apponAndroidplatform.Theappshouldbeabletomap,model,andlocalizethesurroundingsusingthesensorsembeddedinthephonesuchascamera,gyroscope,andaccelerometerswhilethephoneisbeingcarriedaround.ThecoreofoursystemisavisualSLAMalgorithm.Basedonaccuracyandcellphonestora
4、gecapacity,wechooseORB-SLAMtobetheframework.Onecamera,oneaccelerometerandonegyroscopeonHuaweiP9areservingasinputdevices.Atightlycoupledvisual-inertialsensorfusionalgorithmisappliedtoobtainacameraposeestimationbasedonthevisualandinertialinputs,tobeabletowork
5、robustlyinbothslowmotionandcrowdedscenes.Wealsoapplied3DmapreconstructionofflineonacomputertovisualizetheSLAMresult.Totallyspeaking,ourapplicationisabletorealizeSLAMonHuaweiP9andthe3Dmapreconstructionsystemofflineiscapableofvisualization.PeakCPUusageis1%bey
6、ondourexpectation.Allotherspecifications,includinglocalizationerror,localizationtime,peakmemoryusage,internetbandwidthusage,userlearningtime,andcosthavebeensatisfied.Thisprojectindicatesabrightfutureofself-drivingcarbasedonsmartphones.TableofContents1.INTRO
7、DUCTION..................................................................................................12.LITERATURESEARCH........................................................................................23.CUSTOMERREQUIREMENTS&ENGINEERING_SPECIFICA
8、TIONS........33.1CUSTOMERREQUIREMENTS..................................................................................33.2ENGINEERINGSPECIFICATIONS.....................................................
