Year of Graduation
Methods and Algorithms of Visual-Based Simultaneous Localization and Mapping (vSLAM)
Applied Mathematics and Information Science
The main purpose of this project is to learn about theoretical basis behind algorithms of simultaneous localization and mapping, and to implement a program that solves vSLAM problem in real time. This paper describes the vSLAM problem, algorithms of feature points detection and description, basic methods of 3D scene reconstruction, application of EKF for vSLAM problem, and the implementation of the described algorithm.