Master Thesis

Fusion of GPS and Visual SLAM
to improve localization of autonomous vehicles
in urban environments.

by Adam Kalisz


Online Documentation: https://Master.Kalisz.co

Agenda

  • Last time (Recap)
  • This time
  • Comparison of various VSLAM Algorithms
  • Papers on VSLAM and GPS Fusion
  • Interesting 3D Reconstruction ideas
  • Results!
  • Conclusion / Feeling

Last time

Bad GPS accuracy

Bad Visual SfM result - too sparse

Bad impression of ZED Depth

This time

Demo: LSD SLAM

Demo: DSO

Submitted bug report:

https://gcc.gnu.org/bugzilla/show_bug.cgi?id=82985

Fixed now!

Demo: DSO
(for real)

Feeling

Thank you!