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Visual SLAM Approach with a Low-Power Remote Robot Agent

dc.contributor.advisorDalmo, Rune
dc.contributor.advisorBang, Børre
dc.contributor.authorJakobsen, Stian Endrè
dc.date.accessioned2023-12-18T14:38:16Z
dc.date.available2023-12-18T14:38:16Z
dc.date.issued2023-05-15en
dc.description.abstractThis master’s thesis examines the viability of using a low-performance, low- power-consumption remote robot agent to collect sensor data for use in a vSLAM system. Selections for the components of the robot agent were made based on results from a small initial study, the robot was assembled, and software to run it was created. A remote server application was created to communicate with the robot agent and receive sensor data from it, subsequently processing and using the data with ORB-SLAM3. The robot agent successfully collects and transmits sensor data to the server ap- plication, which successfully processes and uses the data in a vSLAM approach using ORB-SLAM3. Results indicate that the approach is viable, but due to hardware limitations overall performance is lower than intended. An analysis was performed and proposals for improvements to mitigate the limitations were suggested. Suggestions for further work was given.en_US
dc.identifier.urihttps://hdl.handle.net/10037/32097
dc.language.isoengen_US
dc.publisherUiT Norges arktiske universitetno
dc.publisherUiT The Arctic University of Norwayen
dc.rights.holderCopyright 2023 The Author(s)
dc.rights.urihttps://creativecommons.org/licenses/by-nc-sa/4.0en_US
dc.rightsAttribution-NonCommercial-ShareAlike 4.0 International (CC BY-NC-SA 4.0)en_US
dc.subject.courseIDDTE-3900
dc.subjectVDP::Technology: 500::Information and communication technology: 550::Computer technology: 551en_US
dc.subjectVDP::Teknologi: 500::Informasjons- og kommunikasjonsteknologi: 550::Datateknologi: 551en_US
dc.subjectVDP::Mathematics and natural science: 400::Information and communication science: 420::Simulation, visualization, signal processing, image processing: 429en_US
dc.subjectVDP::Matematikk og Naturvitenskap: 400::Informasjons- og kommunikasjonsvitenskap: 420::Simulering, visualisering, signalbehandling, bildeanalyse: 429en_US
dc.subjectVDP::Mathematics and natural science: 400::Information and communication science: 420::System development and system design: 426en_US
dc.subjectVDP::Matematikk og Naturvitenskap: 400::Informasjons- og kommunikasjonsvitenskap: 420::Systemutvikling og – arbeid: 426en_US
dc.subjectVDP::Mathematics and natural science: 400::Information and communication science: 420::Communication and distributed systems: 423en_US
dc.subjectVDP::Matematikk og Naturvitenskap: 400::Informasjons- og kommunikasjonsvitenskap: 420::Kommunikasjon og distribuerte systemer: 423en_US
dc.titleVisual SLAM Approach with a Low-Power Remote Robot Agenten_US
dc.typeMaster thesisen
dc.typeMastergradsoppgaveno


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Attribution-NonCommercial-ShareAlike 4.0 International (CC BY-NC-SA 4.0)
Except where otherwise noted, this item's license is described as Attribution-NonCommercial-ShareAlike 4.0 International (CC BY-NC-SA 4.0)