Banca de DEFESA: ELIZABETH VIVIANA CABRERA AVILA

Uma banca de DEFESA de DOUTORADO foi cadastrada pelo programa.
STUDENT : ELIZABETH VIVIANA CABRERA AVILA
DATE: 18/02/2022
TIME: 09:00
LOCAL: Sala Virtual PPgEEC
TITLE:

Windowed Optimization for Stereo Visual Odometry Fusion

KEY WORDS:

Sensor fusion; stereo visual odometry; graph optimization

PAGES: 77
BIG AREA: Ciências Exatas e da Terra
AREA: Ciência da Computação
SUBÁREA: Metodologia e Técnicas da Computação
SPECIALTY: Processamento Gráfico (Graphics)
SUMMARY:

Accurate motion estimation is an essential task accomplished in autonomous mobile agents' navigation (aerial or ground) and in robots navigation. In this thesis, we propose to reduce the error of stereo visual odometry when using 6 degrees of freedom poses through a graph optimization-based visual odometry fusion approach using the redundancy of captured information from the environment. Our approach uses two stereo images sets of a public dataset captured with a moving platform mounted on the top of a robot Pioneer 3AT to compute independent stereo odometry employing the LIBVISO algorithm and later fuse them. Our results are compared against two recognized SLAM frameworks ORB-SLAM2 and UCOSLAM and with the stereo odometry algorithm input. The relative pose error of the fused poses decreases by up to 94\% in relation to the error of stereo odometry and by up to 91\% compared with the results of UCOSLAM. Our implementations are open source and use public libraries.

BANKING MEMBERS:
Presidente - 1345674 - LUIZ MARCOS GARCIA GONCALVES
Interno - 1242315 - PABLO JAVIER ALSINA
Externo ao Programa - 1170845 - BRUNO MARQUES FERREIRA DA SILVA
Externo à Instituição - ANDERSON ABNER DE SANTANA SOUZA - UERN
Externo à Instituição - JOAO MORENO VILAS BOAS DE SOUZA SILVA - IFRN