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Online loop detection and closing
The project aims to develop loop detection and closing algorithms suitable for embedded systems.
Keywords: Computer Vision; Robotics
Loop detection and closing technique help robots recognize visited places. It can be used to recover odometry failure as well as reduce drift. However, it is still challenging to run such algorithms in real-time on an embedded system. The goal of this project is to integrate a loop closing and detection algorithm into our visual odometry frontend. We aim to run the loop detection and closing algorithm using only onboard computing resource and enable our robot to localize reliably. The applicant is required to be proficient in C++ programming and have computer vision knowledge.
Loop detection and closing technique help robots recognize visited places. It can be used to recover odometry failure as well as reduce drift. However, it is still challenging to run such algorithms in real-time on an embedded system. The goal of this project is to integrate a loop closing and detection algorithm into our visual odometry frontend. We aim to run the loop detection and closing algorithm using only onboard computing resource and enable our robot to localize reliably. The applicant is required to be proficient in C++ programming and have computer vision knowledge.
The project aims to develop loop detection and closing algorithms suitable for embedded systems.
The project aims to develop loop detection and closing algorithms suitable for embedded systems.
Zichao Zhang (zzhang at ifi.uzh.ch)
Titus Cieslewski (titus at ifi.uzh.ch)
Zichao Zhang (zzhang at ifi.uzh.ch) Titus Cieslewski (titus at ifi.uzh.ch)