University of Twente Student Theses
As of Friday, 8 August 2025, the current Student Theses repository is no longer available for thesis uploads. A new Student Theses repository will be available starting Friday, 15 August 2025.
Insights in SLAM algorithm modularity from RTAB-Map and ORB-SLAM2
Brake, M. te (2021) Insights in SLAM algorithm modularity from RTAB-Map and ORB-SLAM2.
PDF
1MB |
Abstract: | In order to improve on the reusability of SLAM implementations, this thesis considers two open-source visual, feature-based, pose graph SLAM systems: RTAB-Map and ORB-SLAM2. Several aspects of these systems are investigated to define a baseline for the behaviour and concepts implemented by those SLAM implementations. The analysis uncovers details about the functionality that is contained within these systems, the type of information that is processed for these functions and architectural aspects of both implementations that affect reusability and modularity. |
Item Type: | Essay (Master) |
Faculty: | EEMCS: Electrical Engineering, Mathematics and Computer Science |
Programme: | Electrical Engineering MSc (60353) |
Link to this item: | https://purl.utwente.nl/essays/86057 |
Export this item as: | BibTeX EndNote HTML Citation Reference Manager |
Repository Staff Only: item control page