In this thesis you will implement the paper „Robust Vision-Aided Navigation Using Sliding-Window Factor Graphs“, by Han-Pang Chiu, Stephen Williams, Frank Dellaert, Supun Samarasekera, Rakesh Kumar and adapt it to make it particularly suited for UAV applications.
In this context, the student will have access to an existing multi-sensor factor-graph based optimization framework as well as to simulated (Gazebo, https://github.com/ethz-asl/rotors_simulator ) and real-world datasets.
In this thesis you will implement the paper „Robust Vision-Aided Navigation Using Sliding-Window Factor Graphs“, by Han-Pang Chiu, Stephen Williams, Frank Dellaert, Supun Samarasekera, Rakesh Kumar and adapt it to make it particularly suited for UAV applications. In this context, the student will have access to an existing multi-sensor factor-graph based optimization framework as well as to simulated (Gazebo, https://github.com/ethz-asl/rotors_simulator ) and real-world datasets.
- Thoroughly revise the publication „Robust Vision-Aided Navigation Using Sliding-Window Factor Graphs“ as well as related literature
- Make yourself familiar with the existing multi-sensor SLAM framework as well as the simulation environment
- Implement the reference publication and modifiy it such that it is best-suited for aerial applications
- Thoroughly revise the publication „Robust Vision-Aided Navigation Using Sliding-Window Factor Graphs“ as well as related literature - Make yourself familiar with the existing multi-sensor SLAM framework as well as the simulation environment - Implement the reference publication and modifiy it such that it is best-suited for aerial applications
- Student enrolled at ETH Zurich
- Programming experience required (C++)
- Experience in computer vision (lectures or practical) very much beneficial
- Experience with Ubuntu and ROS beneficial. We are mainly using Ubuntu 14.04 and ROS indigo.
- Student enrolled at ETH Zurich - Programming experience required (C++) - Experience in computer vision (lectures or practical) very much beneficial - Experience with Ubuntu and ROS beneficial. We are mainly using Ubuntu 14.04 and ROS indigo.