Precise real-time localization using comma.ai panda

Organisatsiooni nimi
Autonomous Driving Lab
Kokkuvõte
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).
Lõputöö kaitsmise aasta
2020-2021
Juhendaja
Tambet Matiisen
Suhtlemiskeel(ed)
eesti keel, inglise keel
Nõuded kandideerijale
Tase
Magister
Märksõnad

Kandideerimise kontakt

 
Nimi
Tambet Matiisen
Tel
5286457
E-mail
tambet.matiisen@ut.ee
Vaata lähemalt
https://docs.google.com/document/d/1Hd1qjDmfCGvnW2bysQAQvfPB5UEwFDcnClMMFcNCt4k/edit?usp=sharing