ASL Student Project Description
Transcrição
ASL Student Project Description
Autonomous Systems Lab Prof. Dr. Roland Siegwart Satellite tracking from camera: the inverse GPS problem The student will develop methods to track GPS satellites from mobile vehicles. The student has to draw the expected satellite position on an image coming from a camera pointing the sky, given the vehicle approximate position. This will be useful to estimate in urban environments the reliability of GPS signal (sky occlusion → bad GPS estimate) Typ / type Partner Semester Project ETHZ – ASL lab Zeitdauer / period Student(en) / student(s) Betreuung intern / internal supervisor Betreuung extern / external supervisor Winter semester Luciano Spinello ([email protected]) Dr. Cedric Predalier ([email protected]) Stichworte / key words The student will develop methods to track GPS satellites from mobile vehicles. The student has to draw the expected satellite position on an image coming from a camera pointing the sky, given the vehicle approximate position. This will be useful to estimate in urban environments the reliability of GPS signal (sky occlusion → bad GPS estimate) If, for example, the expected satellite position in the camera coincides with a buidling in the image then the GPS estimate is unreliable (due to multipath problems and signal bouncings) and the robot localization can be corrected The algorithm has to be developed in C++/Matlab using standard computer vision libraries and open source tools. The work will be divided as: − literature study (review of the current work in the field) − theoretical development of the method − C++/Matlab development