Design and implementation of VSLAM navigation system; VSLAM seyir sistemi tasarımı ve uygulaması

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Arş. Gör. ARDA BEKCAN

Tez Türü: Yüksek Lisans

Tezin Yürütüldüğü Kurum: Çankaya Üniversitesi, Mühendislik, Mekatronik Mühendisliği, Türkiye

Tez Danışmanı: Dr. Öğr. Üyesi Halit Ergezer

Tezin Onay Tarihi: 2021

Tezin Dili: İngilizce

Özet:

It is very important to guess the location of the redetected objects and loop closures with the visual simultaneous localization and mapping system (VSLAM), one of the biggest problems of a mobile robot. Noise in the sensor measurements and non-linear motion of the mobile robot make it difficult to determine the robot pose and causes low quality map. VSLAM makes it possible to eliminate and/or reduce these applications' errors and improve the robot's direction and position by using previously detected environment. The aim of this thesis is to achieve an autonomous navigation of a ground vehicle using VSLAM algorithm in an unknown environment. In this context, a differential drive mobile robot with a monocular camera was designed and an experimental platform was built for robot to explore. A VSLAM algorithm was implemented according to theoretical information and the performance of visual odometry and the loop closing process were compared. As a result of the experiments, it was determined that loop closing had a great role in reducing the accumulating drift errors.