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Design and implementation of a low-cost portable embedded positioning system in mixed environments

Charokopos Zisis

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Year 2024
Type of Item Diploma Work
Bibliographic Citation Zisis Charokopos, "Design and implementation of a low-cost portable embedded positioning system in mixed environments", Diploma Work, School of Electrical and Computer Engineering, Technical University of Crete, Chania, Greece, 2024
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In recent years, the development of positioning systems has been critical for many applications, including autonomous vehicles, robotics, and location-based services. Accurate positioning in mixed environments, as far as GNSS is concerned, is a fundamental requirement, but it can be challenging due to various factors, such as sensor limitations, real-time processing, and the complexity of the environment. Despite these challenges, this thesis proposes a positioning system that offers a promising solution. A mixed environment is considered an environment that fulfills the requirements for both GNSS-enabled and GNSS-denied environments. This system utilizes a stereo camera, an embedded system, and an accurate positioning algorithm and it achieves satisfactory results in specific scenarios. In this thesis, an initial approach of this system is implemented, and it achieves an accuracy, based on the distance difference, of 96.27% in high-featured small areas, and 90.44% in high-featured large areas, such features are used from the positioning algorithm.

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