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Image-based Localization in a Known Environment and Map Update in a Quality-adaptive Manner
The goal of the project is to localize a set of sensors (e.g., cameras) mounted to a moving vehicle (e.g., robot) in a given 3D map of the environment while continuously updating it. Being quality-adaptive means two things in this case. First, the method should progressively increase the localization and reconstruction accuracy until the uncertainty falls below a threshold. Second, the algorithm should cope with maps built in a quality-adaptive manner - the reconstruction accuracy and detailedness changes at different locations of the map.
Keywords: SLAM, localization, 3D map
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Daniel Barath (dbarath@ethz.ch)
Iro Armeni (armeni@ibi.baug.ethz.ch)
Daniel Barath (dbarath@ethz.ch) Iro Armeni (armeni@ibi.baug.ethz.ch)