An experimental study of mobile device localization

Author(s)
Ramirez, Ernesto Alejandro
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Massachusetts Institute of Technology. Department of Mechanical Engineering.
Advisor
John J. Leonard.
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Abstract
The objective of this experiment was to generate a dataset to be used for benchmarking text-based SLAM algorithms. A Google Tango and Android application were used and developed specifically for this experiment. The Tango logged visual-inertial-odometry, images, and depth readings at a rate of 1 hz each. The dataset was taken over 2 floors of MIT's New House dormitory and was taken over the span of half an hour, covers about 3 miles of distance, and is 270 megabytes in size. The dataset taken and the Android application developed for the taking the data have been made publicly available for reuse.
Description
Thesis: S.B., Massachusetts Institute of Technology, Department of Mechanical Engineering, 2015.
 
Cataloged from PDF version of thesis.
 
Includes bibliographical references (page 13).
 
Date issued
2015
URI
http://hdl.handle.net/1721.1/98770
Department
Massachusetts Institute of Technology. Department of Mechanical Engineering
Publisher
Massachusetts Institute of Technology
Keywords
Mechanical Engineering.
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