{"id":110996,"date":"2018-03-11T10:37:20","date_gmt":"2018-03-11T10:37:20","guid":{"rendered":"https:\/\/www.deberes.net\/tesis\/sin-categoria\/selective-submap-joining-slam-for-autonomous-vehicles\/"},"modified":"2018-03-11T10:37:20","modified_gmt":"2018-03-11T10:37:20","slug":"selective-submap-joining-slam-for-autonomous-vehicles","status":"publish","type":"post","link":"https:\/\/www.deberes.net\/tesis\/robotica\/selective-submap-joining-slam-for-autonomous-vehicles\/","title":{"rendered":"Selective submap joining slam for autonomous vehicles"},"content":{"rendered":"<h2>Tesis doctoral de <strong> Josep Mar\u00eda Aulinas Mas\u00f3 <\/strong><\/h2>\n<p>Uni\u00f3n selectiva de submapas en slam para veh\u00edculos aut\u00f3nomos los algoritmos de localizaci\u00f3n y creaci\u00f3n de mapas simult\u00e1neamente (simultaneous localization and mapping &#8211; slam) no producen mapas correctos de grandes \u00e1reas debido al aumento gradual de la incertidumbre en las misiones de larga duraci\u00f3n. Adem\u00e1s, el coste de computaci\u00f3n aumenta a medida que el mapa crece, de modo que las soluciones de slam no son aplicables a tiempo real. Esta tesis presenta un estudio de las t\u00e9cnicas de slam, prestando especial atenci\u00f3n en aquellos trabajos pensados para operar en entornos grandes. Tambi\u00e9n se estudian los trabajo de slam centrados en ambientes submarinos. En este contexto, se propone una nueva t\u00e9cnica basada en el uso de submapas independientes combinados con un mapa estoc\u00e1stico global. Esta t\u00e9cnica se ha llamado uni\u00f3n selectiva de submapas en slam para veh\u00edculos aut\u00f3nomos. El mapa global contiene las transformaciones relativas entre mapas, que se actualizan al revisitar zonas conocidas, es decir, se observan puntos de referencia que ya formaban parte del mapa. As\u00ed pues, los submapas que comparten informaci\u00f3n se fusionan, manteniendo las correlaciones entre el veh\u00edculo y los puntos de referencia. El uso de submapas reduce el coste de computaci\u00f3n y mejora la consistencia del mapa. La t\u00e9cnica propuesta se compara con las t\u00e9cnicas existentes utilizando los datos del victoria park, una base de datos de referencia dentro la comunidad de slam. Resultados sint\u00e9ticos y experimentales muestran que la ssjs es capaz de generar mapas en zonas de grandes dimensiones consistentemente y con un coste menor en comparaci\u00f3n a las otras t\u00e9cnicas. Una vez demostrada la viabilidad del sistema, el m\u00e9todo se adapta para ser utilizado en veh\u00edculos submarinos aut\u00f3nomos. En esta tesis, se presentan dos series de experimentos: 1) con el remus-100 equipado con un sonar de barrido lateral, y 2) con el sparus que lleva una c\u00e1mara mirando hacia el fondo. En ambos casos, hay que definir los modelos matem\u00e1ticos que describen la din\u00e1mica del veh\u00edculo y el principio de medici\u00f3n de los sensores. Adem\u00e1s, se desarrollan t\u00e9cnicas de visi\u00f3n artificial para extraer y asociar puntos de referencia, muy necesarios en los algoritmos de slam. Los experimentos llevados a cabo utilizando datos reales demuestran la capacidad del sistema para localizar el veh\u00edculo y generar cartograf\u00eda, combinando la extracci\u00f3n autom\u00e1tica de puntos de referencia con el ssjs.<\/p>\n<p>&nbsp;<\/p>\n<h3>Datos acad\u00e9micos de la tesis doctoral \u00ab<strong>Selective submap joining slam for autonomous vehicles<\/strong>\u00ab<\/h3>\n<ul>\n<li><strong>T\u00edtulo de la tesis:<\/strong>\u00a0 Selective submap joining slam for autonomous vehicles <\/li>\n<li><strong>Autor:<\/strong>\u00a0 Josep Mar\u00eda Aulinas Mas\u00f3 <\/li>\n<li><strong>Universidad:<\/strong>\u00a0 Girona<\/li>\n<li><strong>Fecha de lectura de la tesis:<\/strong>\u00a0 22\/09\/2011<\/li>\n<\/ul>\n<p>&nbsp;<\/p>\n<h3>Direcci\u00f3n y tribunal<\/h3>\n<ul>\n<li><strong>Director de la tesis<\/strong>\n<ul>\n<li>Joaquim Salvi Mas<\/li>\n<\/ul>\n<\/li>\n<li><strong>Tribunal<\/strong>\n<ul>\n<li>Presidente del tribunal: joan Batlle grabulosa <\/li>\n<li>yoannis Akkizidis (vocal)<\/li>\n<li>keith Brown (vocal)<\/li>\n<li>gabriel Oliver codina (vocal)<\/li>\n<\/ul>\n<\/li>\n<\/ul>\n<p>&nbsp;<\/p>\n","protected":false},"excerpt":{"rendered":"<p>Tesis doctoral de Josep Mar\u00eda Aulinas Mas\u00f3 Uni\u00f3n selectiva de submapas en slam para veh\u00edculos aut\u00f3nomos los algoritmos de localizaci\u00f3n [&hellip;]<\/p>\n","protected":false},"author":1,"featured_media":0,"comment_status":"open","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"site-sidebar-layout":"default","site-content-layout":"","ast-site-content-layout":"","site-content-style":"default","site-sidebar-style":"default","ast-global-header-display":"","ast-banner-title-visibility":"","ast-main-header-display":"","ast-hfb-above-header-display":"","ast-hfb-below-header-display":"","ast-hfb-mobile-header-display":"","site-post-title":"","ast-breadcrumbs-content":"","ast-featured-img":"","footer-sml-layout":"","theme-transparent-header-meta":"","adv-header-id-meta":"","stick-header-meta":"","header-above-stick-meta":"","header-main-stick-meta":"","header-below-stick-meta":"","astra-migrate-meta-layouts":"default","ast-page-background-enabled":"default","ast-page-background-meta":{"desktop":{"background-color":"var(--ast-global-color-4)","background-image":"","background-repeat":"repeat","background-position":"center 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