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System for autonomous racetrack mapping
Soboňa, Tomáš ; Gábrlík, Petr (referee) ; Kopečný, Lukáš (advisor)
The focus of this thesis is to theoretically design, describe, implement and verify thefunctionality of the selected concept for race track mapping. The theoretical part ofthe thesis describes the ORB-SLAM2 algorithm for vehicle localization. It then furtherdescribes the format of the map - occupancy grid and the method of its creation. Suchmap should be in a suitable format for use by other trajectory planning systems. Severalcameras, as well as computer units, are described in this part, and based on parametersand tests, the most suitable ones are selected. The thesis also proposes the architectureof the mapping system, it describes the individual units that make up the system, aswell as what is exchanged between the units, and in what format the system output issent. The individual parts of the system are first tested separately and subsequently thesystem is tested as a whole. Finally, the achieved results are evaluated as well as thepossibilities for further expansion.
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System for autonomous racetrack mapping
Soboňa, Tomáš ; Gábrlík, Petr (referee) ; Kopečný, Lukáš (advisor)
The focus of this thesis is to theoretically design, describe, implement and verify thefunctionality of the selected concept for race track mapping. The theoretical part ofthe thesis describes the ORB-SLAM2 algorithm for vehicle localization. It then furtherdescribes the format of the map - occupancy grid and the method of its creation. Suchmap should be in a suitable format for use by other trajectory planning systems. Severalcameras, as well as computer units, are described in this part, and based on parametersand tests, the most suitable ones are selected. The thesis also proposes the architectureof the mapping system, it describes the individual units that make up the system, aswell as what is exchanged between the units, and in what format the system output issent. The individual parts of the system are first tested separately and subsequently thesystem is tested as a whole. Finally, the achieved results are evaluated as well as thepossibilities for further expansion.
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