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Aulinas Josep |
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| Personal introduction |
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Hello,
I am from a small town near Girona sorrounded by volcanos. I studied in the University of Girona. I have an academic background in a multidisciplinary engineering, encompassing
various fields such as management, mechanics, electronics, energetic and civil engineering. I got
some practical experience in mechanical design in an internship in the Department of Mechanics
of the Technical University of Liberec; in mathematical modelling, simulation and software design
in the Physic’s Department at the University of Girona; and in product design and development in
a local consultancy.
I will complete my master’s degree on Artificial Vision and Robotics by mid-June and I will
continue researching to pursue a doctoral degree by the end of 2010.
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| Project Description and Objectives |
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| This MSc thesis studies the most recent published techniques in the field of Visual Simultaneous Localization and Mapping (V-SLAM). In particular it is focused on large-scale underwater
environments and on the existing techniques available to speed up the process. The main
research field we investigate is the filtering algorithms as a way of reducing the amount of data.
It seems that almost all the current approaches can not perform consistent maps for large areas,
mainly due to the increase of the computational cost and due to the uncertainties that become
prohibitive when the scenario becomes larger. |
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| In this project four algorithms have been implemented in Matlab: the Kalman Filter (KF), the Compressed Kalman Filter (CKF), the Unscented Kalman Filter (UKF) and the Information Filter (IF). The figure below depicts an example of a 3D simulation. For further details in the experiments and its results, please click the thesis link in the top of the page. |
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| I want to thank the tutors, Joaquim Salvi and Yvan Petillot, for supervising my work and also
thanks to Xavier Llado who has listen patiently to all my doubts and has given me helpful
advices, useful suggestions, and valuable feedback. |
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