Document Type
Poster
Journal/Book Title/Conference
College of Engineering Senior Design Projects
Publisher
Utah State University
Location
Logan, UT
Publication Date
2019
Abstract
Simultaneous localization and mapping (SLAM) allows a robot to map its environment while also keeping track of the robot’s own location within the map. ORB-SLAM2 is a type of SLAM which only uses a video stream as input, but it does not have automatic support for the common low-cost Raspberry Pi Camera. This project involved creating a version of the ORB-SLAM2 ROS module that can use the Raspberry Pi Camera as its main input source, as well as integrating April Tag fiducial detection into the module to allow for future improvements to the mapping and positioning process.
Recommended Citation
Blake, Matt, "3D Mapping With Raspberry Pi" (2019). Electrical and Computer Engineering. Paper 116.
https://digitalcommons.usu.edu/eceengr_srdesign/116