title: Ð£Ð»ÑÑÑÐµÐ½Ð½Ð°Ñ ÑÐ¸ÑÑÐµÐ¼Ð° SLAM Ð´Ð»Ñ Ð²ÑÑÐ¾ÐºÐ¾ÑÐºÐ¾ÑÐ¾ÑÑÐ½Ð¾Ð³Ð¾ ÑÑÐ°Ð½ÑÐ¿Ð¾ÑÑÐ°
title: Ð²ÑÐ¿ÑÑÐºÐ½Ð°Ñ ÐºÐ²Ð°Ð»Ð¸ÑÐ¸ÐºÐ°ÑÐ¸Ð¾Ð½Ð½Ð°Ñ ÑÐ°Ð±Ð¾ÑÐ° Ð¼Ð°Ð³Ð¸ÑÑÑÐ°
titleType: Subtitle
title: An improved SLAM system for high speed vehicles
Creators: name: ÐÐ¸ÑÑ, ÐÐ¾ÐºÐµÑ
Publisher: name: Ð¡Ð°Ð½ÐºÑ-ÐÐµÑÐµÑÐ±ÑÑÐ³ÑÐºÐ¸Ð¹ Ð¿Ð¾Ð»Ð¸ÑÐµÑÐ½Ð¸ÑÐµÑÐºÐ¸Ð¹ ÑÐ½Ð¸Ð²ÐµÑÑÐ¸ÑÐµÑ ÐÐµÑÑÐ° ÐÐµÐ»Ð¸ÐºÐ¾Ð³Ð¾
Year: 2020
Subjects: ÐÐ»Ð³Ð¾ÑÐ¸ÑÐ¼Ñ
ÐÑÐºÑÑÑÑÐ²ÐµÐ½Ð½ÑÐ¹ Ð¸Ð½ÑÐµÐ»Ð»ÐµÐºÑ
Ð¾Ð´Ð½Ð¾Ð²ÑÐµÐ¼ÐµÐ½Ð½Ð°Ñ Ð»Ð¾ÐºÐ°Ð»Ð¸Ð·Ð°ÑÐ¸Ñ Ð¸ ÐºÐ°ÑÑÐ¾Ð³ÑÐ°ÑÐ¸ÑÐ¾Ð²Ð°Ð½Ð¸Ðµ
Ð¾Ð±Ð½Ð°ÑÑÐ¶ÐµÐ½Ð¸Ðµ Ð¾Ð±ÑÐµÐºÑÐ°
Ð¾ÑÐµÐ½ÐºÐ° Ð´Ð²Ð¸Ð¶ÐµÐ½Ð¸Ñ
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ÑÐ¾Ð¾ÑÐ½ÐµÑÐµÐ½Ð¸Ðµ Ñ Ð°ÑÐ°ÐºÑÐµÑÐ½ÑÑ ÑÐ¾ÑÐµÐº
Ð¾ÑÑÐ»ÐµÐ¶Ð¸Ð²Ð°Ð½Ð¸Ðµ Ñ Ð°ÑÐ°ÐºÑÐµÑÐ½ÑÑ ÑÐ¾ÑÐµÐº
Ð´ÐµÑÐºÑÐ¸Ð¿ÑÐ¾ÑÑ
simultaneous localization and mapping
object detection
motion estimation
keypoint detection
keypoint matching
keypoint tracking
descriptors

description: ÐÐ´Ð½Ð¾Ð²ÑÐµÐ¼ÐµÐ½Ð½Ð°Ñ Ð»Ð¾ÐºÐ°Ð»Ð¸Ð·Ð°ÑÐ¸Ñ Ð¸ ÐºÐ°ÑÑÐ¾Ð³ÑÐ°ÑÐ¸ÑÐ¾Ð²Ð°Ð½Ð¸Ðµ (SLAM) â ÑÑÐ¾ Ð¿Ð¾Ð½ÑÑÐ¸Ðµ Ð¿Ð¾Ð»ÑÑÐ¸Ð»Ð¾ Ð² Ð½Ð°ÑÑÐ¾ÑÑÐµÐµ Ð²ÑÐµÐ¼Ñ ÑÐ¸ÑÐ¾ÐºÐ¾Ðµ ÑÐ°ÑÐ¿ÑÐ¾ÑÑÑÐ°Ð½ÐµÐ½Ð¸Ðµ Ð² Ð¾Ð±Ð»Ð°ÑÑÐ¸ Ð°Ð²ÑÐ¾Ð½Ð¾Ð¼Ð½ÑÑ ÑÑÐ°Ð½ÑÐ¿Ð¾ÑÑÐ½ÑÑ ÑÑÐµÐ´ÑÑÐ². SLAM â ÑÑÐ¾ Ð°Ð»Ð³Ð¾ÑÐ¸ÑÐ¼ Ð´Ð»Ñ ÑÐµÑÐµÐ½Ð¸Ñ Ð·Ð°Ð´Ð°ÑÐ¸ Ð¼Ð°ÑÐ¸Ð½Ð½Ð¾Ð³Ð¾ Ð·ÑÐµÐ½Ð¸Ñ Ð² Ð°Ð²ÑÐ¾Ð½Ð¾Ð¼Ð½Ð¾Ð¼ ÑÑÐ°Ð½ÑÐ¿Ð¾ÑÑÐ½Ð¾Ð¼ ÑÑÐµÐ´ÑÑÐ²Ðµ. Ð¡ÑÑÐµÐ¼Ð»ÐµÐ½Ð¸Ðµ Ð¿ÑÐ¸Ð²ÐµÑÑÐ¸ Ð¼Ð°ÑÐ¸Ð½Ð½Ð¾Ðµ Ð²Ð¾ÑÐ¿ÑÐ¸ÑÑÐ¸Ðµ Ð² ÑÐ¾Ð¾ÑÐ²ÐµÑÑÑÐ²Ð¸Ðµ Ñ ÑÐµÐ»Ð¾Ð²ÐµÑÐµÑÐºÐ¾Ð¹ ÑÐ¿Ð¾ÑÐ¾Ð±Ð½Ð¾ÑÑÑÑ Ð²Ð¾ÑÐ¿ÑÐ¸ÑÑÐ¸Ñ Ð²Ð¾ Ð²ÑÐµÐ¼Ñ Ð²Ð¾Ð¶Ð´ÐµÐ½Ð¸Ñ Ð·Ð°ÑÑÐ°Ð²Ð»ÑÐµÑ Ð¸ÑÑÐ»ÐµÐ´Ð¾Ð²Ð°ÑÐµÐ»ÐµÐ¹ ÑÐ¾Ð²ÐµÑÑÐµÐ½ÑÑÐ²Ð¾Ð²Ð°ÑÑ Ð°Ð»Ð³Ð¾ÑÐ¸ÑÐ¼Ñ SLAM. Ð Ð´Ð°Ð½Ð½Ð¾Ð¹ ÑÐ°Ð±Ð¾ÑÐµ Ð¿ÑÐµÐ´ÑÑÐ°Ð²Ð»ÐµÐ½Ñ ÑÑÐ¸ Ð¾ÑÐ½Ð¾Ð²Ð½ÑÑ Ð¿ÑÐµÐ´Ð»Ð°Ð³Ð°ÐµÐ¼ÑÑ ÑÐ»ÑÑÑÐµÐ½Ð¸ÑÐ¼Ð¸ Ð´Ð»Ñ Ð°Ð»Ð³Ð¾ÑÐ¸ÑÐ¼Ð¾Ð² SLAM. SLAM Ð½Ð° Ð±Ð°Ð·Ðµ Ð³ÑÐ°ÑÐ¸ÑÐµÑÐºÐ¾Ð³Ð¾ Ð¿ÑÐµÐ´ÑÑÐ°Ð²Ð»ÐµÐ½Ð¸Ñ ÑÐ°ÑÑÐ¼Ð°ÑÑÐ¸Ð²Ð°ÐµÑÑÑ ÐºÐ°Ðº ÑÐµÐºÑÑÐ¸Ð¹ ÑÑÐ¾Ð²ÐµÐ½Ñ ÑÐ°Ð·Ð²Ð¸ÑÐ¸Ñ Ð°Ð»Ð³Ð¾ÑÐ¸ÑÐ¼Ð¾Ð² SLAM Ð²Ð¾Ð¾Ð±ÑÐµ. Ð¢Ð°ÐºÐ¸Ðµ Ð°Ð»Ð³Ð¾ÑÐ¸ÑÐ¼Ñ ÑÐ¾ÑÑÐ¾ÑÑ Ð¸Ð· Ð²Ð½ÐµÑÐ½ÐµÐ³Ð¾ Ð¸Ð½ÑÐµÑÑÐµÐ¹ÑÐ° (frontend) Ð¸ Ð²Ð½ÑÑÑÐµÐ½Ð½Ð¸Ñ Ð¿ÑÐ¾ÑÐµÑÑÐ¾Ð² (backend). ÐÑÐµÐ´ÑÑÐ°Ð²Ð»ÐµÐ½Ð½ÑÐµ ÑÑÐ¾Ð²ÐµÑÑÐµÐ½ÑÑÐ²Ð¾Ð²Ð°Ð½Ð¸Ñ ÑÐ²ÑÐ·Ð°Ð½Ñ Ñ Ð²Ð½ÐµÑÐ½Ð¸Ð¼ Ð¸Ð½ÑÐµÑÑÐµÐ¹ÑÐ¾Ð¼ GraphSLAM. ÐÐ°Ð½Ð½Ð°Ñ ÑÐ°Ð±Ð¾ÑÐ° Ð¾Ð¿Ð¸ÑÑÐ²Ð°ÐµÑ Ð¿ÑÐµÐ¸Ð¼ÑÑÐµÑÑÐ²Ð° Ð¿ÑÐ¸Ð¼ÐµÐ½ÐµÐ½Ð¸Ñ Ð¾Ð±Ð½Ð°ÑÑÐ¶ÐµÐ½Ð¸Ñ Ð¾Ð±ÑÐµÐºÑÐ° Ð´Ð»Ñ Ð¸ÑÐºÐ»ÑÑÐµÐ½Ð¸Ñ Ð´Ð¸Ð½Ð°Ð¼Ð¸ÑÐµÑÐºÐ¸Ñ ÐºÐ»ÑÑÐµÐ²ÑÑ ÑÐ¾ÑÐµÐº Ð¸Ð· Ð¾ÐºÑÑÐ¶Ð°ÑÑÐµÐ¹ ÑÑÐµÐ´Ñ, ÑÑÐ¾ Ð¿Ð¾Ð¼Ð¾Ð¶ÐµÑ Ð¿Ð¾Ð²ÑÑÐ¸ÑÑ ÑÐ¾ÑÐ½Ð¾ÑÑÑ Ð¾ÑÐµÐ½ÐºÐ¸ Ð´Ð²Ð¸Ð¶ÐµÐ½Ð¸Ñ. ÐÑÐ¾Ð¼Ðµ ÑÐ¾Ð³Ð¾, Ð² Ð´Ð¸ÑÑÐµÑÑÐ°ÑÐ¸Ð¸ Ð¿ÑÐµÐ´ÑÑÐ°Ð²Ð»ÐµÐ½ Ð¾ÑÑÐµÑ Ð¾ ÑÑÐ°Ð²Ð½ÐµÐ½Ð¸Ð¸ ÑÐ°Ð·Ð»Ð¸ÑÐ½ÑÑ Ð´ÐµÑÐµÐºÑÐ¾ÑÐ¾Ð² ÐºÐ»ÑÑÐµÐ²ÑÑ ÑÐ¾ÑÐµÐº. ÐÑÐ¾ÑÐ¾Ðµ ÑÑÐ¾Ð²ÐµÑÑÐµÐ½ÑÑÐ²Ð¾Ð²Ð°Ð½Ð¸Ðµ, Ð¿ÑÐµÐ´ÑÑÐ°Ð²Ð»ÐµÐ½Ð½Ð¾Ðµ Ð·Ð´ÐµÑÑ, Ð³Ð¾Ð²Ð¾ÑÐ¸Ñ Ð¾ Ð¿ÑÐµÐ¸Ð¼ÑÑÐµÑÑÐ²Ð°Ñ Ð¸ÑÐ¿Ð¾Ð»ÑÐ·Ð¾Ð²Ð°Ð½Ð¸Ñ Ð¾ÑÑÐ»ÐµÐ¶Ð¸Ð²Ð°Ð½Ð¸Ñ ÐºÐ»ÑÑÐµÐ²ÑÑ ÑÐ¾ÑÐµÐº Ð¿Ð¾ ÑÑÐ°Ð²Ð½ÐµÐ½Ð¸Ñ Ñ Ð¸Ñ ÑÐ¾Ð¿Ð¾ÑÑÐ°Ð²Ð»ÐµÐ½Ð¸ÐµÐ¼. ÐÑÐµÐ´ÑÑÐ°Ð²Ð»ÐµÐ½Ð¾ ÑÑÐ°Ð²Ð½ÐµÐ½Ð¸Ðµ ÑÐµÐ·ÑÐ»ÑÑÐ°ÑÐ¾Ð² Ð¿ÑÐ¸Ð¼ÐµÐ½ÐµÐ½Ð¸Ñ ÑÐ°Ð·Ð»Ð¸ÑÐ½ÑÑ Ð´ÐµÑÐºÑÐ¸Ð¿ÑÐ¾ÑÐ¾Ð² Ð¿ÑÐ¸ ÑÐ¾Ð¿Ð¾ÑÑÐ°Ð²Ð»ÐµÐ½Ð¸ÐµÐ¼ ÐºÐ»ÑÑÐµÐ²ÑÑ ÑÐ¾ÑÐµÐº, Ð° ÑÐ°ÐºÐ¶Ðµ ÑÑÐ°Ð²Ð½ÐµÐ½Ð¸Ðµ ÑÐµÐ·ÑÐ»ÑÑÐ°ÑÐ¾Ð², Ð¿Ð¾Ð»ÑÑÐµÐ½Ð½ÑÑ Ð¿ÑÐ¸ Ð¾ÑÑÐ»ÐµÐ¶Ð¸Ð²Ð°Ð½Ð¸Ð¸ ÐºÐ»ÑÑÐµÐ²ÑÑ ÑÐ¾ÑÐµÐº Ð¸ Ð¿ÑÐ¸ Ð¸Ñ ÑÐ¾Ð¿Ð¾ÑÑÐ°Ð²Ð»ÐµÐ½Ð¸Ð¸. Ð¢Ð°ÐºÐ¶Ðµ Ð´Ð°Ð½Ð½Ð°Ñ ÑÐ°Ð±Ð¾ÑÐ° Ð¿ÑÐµÐ´ÑÑÐ°Ð²Ð»ÑÐµÑ Ð°Ð»ÑÑÐµÑÐ½Ð°ÑÐ¸Ð²Ð½ÑÐ¹ Ð¿Ð¾Ð´ÑÐ¾Ð´ Ðº ÑÑÑÐ°Ð½Ð¾Ð²Ð»ÐµÐ½Ð¸Ñ Ð¼ÐµÑÑÐ¾Ð¿Ð¾Ð»Ð¾Ð¶ÐµÐ½Ð¸Ñ Ñ Ð¿Ð¾Ð¼Ð¾ÑÑÑ Ð¼Ð¾Ð½Ð¾ÐºÑÐ»ÑÑÐ½ÑÑ ÐºÐ°Ð¼ÐµÑ, Ð² ÑÐ°Ð¼ÐºÐ°Ñ ÐºÐ¾ÑÐ¾ÑÐ¾Ð³Ð¾ Ð¸Ð·Ð²ÐµÑÑÐ½ÑÐµ ÑÐ°Ð·Ð¼ÐµÑÑ Ð¾Ð±ÑÐµÐºÑÐ¾Ð² Ð¾Ð±ÑÐ°Ð±Ð°ÑÑÐ²Ð°ÑÑÑÑ Ñ Ð¸ÑÐ¿Ð¾Ð»ÑÐ·Ð¾Ð²Ð°Ð½Ð¸ÐµÐ¼ Ð¿Ð¾ÑÐ¾Ð³Ð¾Ð²ÑÑ Ð¸ ÐºÐ¾Ð½ÑÑÑÐ½ÑÑ Ð¾Ð¿ÐµÑÐ°ÑÐ¸Ð¹.
description: Simultaneous Localization and Mapping (SLAM) is a standard term now days in the domain of Autonomous Vehicles. SLAM is an algorithm for the perception task in an autonomous vehicle. The desire to match the perception ability of humans while driving is driving researchers to improve SLAM algorithms. This thesis takes this journey forward with three major proposed improvements for SLAM algorithms. Graph based SLAM is considered as state-of-the-art for SALM algorithms. Graph based SLAM algorithms are composed on frontend and backend. The improvements presented are related to front-end of the GraphSLAM This thesis presents the benefit of using object detection to exclude dynamic keypoints from the environment which will help in improving the accuracy of motion estimation. In addition, this thesis presents a comparison report of different keypoint detectors. The second improvement presented in this thesis talks about merits of keypoint tracking over keypoint matching. A comparison report of different descriptors with keypoint matching and of keypoint tracking with keypoint matching is presented. At last, this thesis presents an alternative to pose estimation using monocular cameras where the known dimensions of objects are exploited using threshold and contour operations.