Simultaneous localization and mapping for vehicles using ORB-SLAM2
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This thesis details work developing a containerized version of ORB-SLAM2 implemented
in the open source software framework OpenDLV as well as testing it both
on established datasets as well as on gathered data in a real traffic scenario in the
Gothenburg area. Parallel to the real traffic scenarios this thesis also evaluates the
feasibility for ORB-SLAM2 to be run on a formula student race car, due to the
authors involvement in the Chalmers formula student driverless project which will
compete with an autonomous race car in the formula student germany competition.
The thesis also evaluates ORB-SLAM2 as a SLAM solution on a regular car and the
strengths and weaknesses of the system in that area.