Precise real-time localization using comma.ai panda
Organization
Autonomous Driving Lab
Abstract
NovAtel GNSS system in our current car works extremely well and delivers <10 cm accuracy even during driving. To achieve this accuracy, it combines:
* multiple satellite systems, e.g. GPS, GLONASS, Beidou, Galileo;
* information from two antennas;
* inertial measurement unit (IMU) relative positioning;
* real-time kinematics (RTK) correction system.
We believe similar level of accuracy could be achieved with comma.ai panda by combining following sources:
* GPS localization,
* real-time kinematics (RTK) correction system,
* vehicle odometry,
* accelerometer (needs comma two),
* visual odometry (needs comma two).
Kalman filter (for example comma.ai rednose library) can be used to combine different sources. Potential cooperation with Tõravere Observatory (Hendrik Ehrpais).
* multiple satellite systems, e.g. GPS, GLONASS, Beidou, Galileo;
* information from two antennas;
* inertial measurement unit (IMU) relative positioning;
* real-time kinematics (RTK) correction system.
We believe similar level of accuracy could be achieved with comma.ai panda by combining following sources:
* GPS localization,
* real-time kinematics (RTK) correction system,
* vehicle odometry,
* accelerometer (needs comma two),
* visual odometry (needs comma two).
Kalman filter (for example comma.ai rednose library) can be used to combine different sources. Potential cooperation with Tõravere Observatory (Hendrik Ehrpais).
Graduation Theses defence year
2020-2021
Supervisor
Tambet Matiisen
Spoken language (s)
Estonian, English
Requirements for candidates
Level
Masters
Keywords
Application of contact
Name
Tambet Matiisen
Phone
5286457
E-mail