presentation.tex

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% ==== choose the basic color for your presentation ===========================
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% === fill in first information for the presentation ==========================
\newcommand*{\ETHtitle}{Closed-Loop Multi-Sensor SLAM for Fixed-Wing UAVs.}
\newcommand*{\ETHauthor}{Adam Radomski}
\newcommand*{\ETHdate}{16.06.2017}


\begin{document}
% =========== begin of titlepage ============
\ETHtitelbild\textcolor{white}{\large\textbf{\ETHtitle}}\\~\newline\hspace{6mm}\normalsize%
%%
% ==== start here with the text on the titlepage
\textcolor{white}{
\textbf{\ETHauthor}\\ \\
Master Thesis\\
Supervised by Timo Hinzmann, Thomas Schneider}\\
%%


\ETHslide
\section*{Motivation}
Develop localization framework which can simultaneously:
\begin{itemize}
	\item[\ETHitem] Estimate local navigation solution with minimal latency
	\item[\ETHitem] Find optimal solution given all the measurements
\end{itemize}
\begin{center}
\includegraphics[width=0.6\textheight]{pictures/simulation.png}\\
\tiny Trajectory estimated on a replayed test data.
\end{center}

\clearpage

\ETHslide
\section*{Approach}
Splitting the problem into short and long term problems

\begin{minipage}{0.35\textwidth}
	\begin{itemize}
		\item[\ETHitem] \normalsize Short\\ \footnotesize local navigation solution
		\vspace*{3\baselineskip}
		\item[\ETHitem] \normalsize Long\\ \footnotesize solution given all data, loop closure
\end{itemize}
\end{minipage}
\begin{minipage}{0.64\textwidth}
	\centering
	\includegraphics[width=0.99\textwidth]{TikZ_drawings/Simple_STS_and_LTS_diagram_2/Simple_STS_and_LTS_2.pdf}\\
\end{minipage}

\clearpage

\ETHslide
\section*{Work done so far}
\begin{minipage}{0.4\textwidth}
\footnotesize
	 Short Term Smoother 
		\begin{itemize}
			\item[\ETHitem] building a full factor graph given sensor data
			\item[\ETHitem] localization 
			\item[\ETHitem] passing data to LTS
		\end{itemize}
		
\footnotesize		
	 Long Term Smoother
		\begin{itemize}
		 	\item[\ETHitem] building a map
		 	\item[\ETHitem] building a full factor graph based on the map
		 	\item[\ETHitem] localization
		\end{itemize}
\end{minipage}
\hspace{0.2cm}
\begin{minipage}{0.59\textwidth}
	\centering
	\includegraphics[width=0.99\textwidth]{TikZ_drawings/STS_and_LTS/STS_and_LTS.pdf}\\
\end{minipage}

		
		
\clearpage

\ETHslide
\section*{Current status}
\begin{itemize}
	\item[\ETHitem] Optimization of the factor graph
	\item[\ETHitem] Keeping map and factor graph updated
	\item[\ETHitem] Inserting fixed landmark positions to STS
\end{itemize}

\begin{center}
\includegraphics[width=0.6\textwidth]{TikZ_drawings/factor_graph_small/factor_graph.pdf}\\
\end{center}

\clearpage

\ETHslide
\section*{Next steps}
\begin{itemize}
	\item[\ETHitem] 3-stage landmark initialization
	\begin{center}
	\includegraphics[width=0.6\textwidth]{pictures/3stageLandmark.png}\\
	\tiny{Image from [1].}
	\end{center}
 	\item[\ETHitem] Sliding-Window STS
	\begin{itemize}
		\item Marginalize old factors	
	\end{itemize} 
	\item[\ETHitem] Loop closure	
	\item[\ETHitem] Tests on UAV
\end{itemize}

\vspace*{1\baselineskip}

\tiny{[1] H.-P. Chiu, S. Williams, F. Dellaert, S. Samarasekera, R. Kumar (2013). Robust vision-aided\ navigation using sliding-window factor graphs. In IEEE International Conference on Robotics and Automation (pp. 46-53)}
\clearpage



\begin{comment}
References Slide
\ETHslide
\addcontentsline{toc}{section}{References}
\bibliographystyle{bibliography/IEEEtranN}
\tiny{
\bibliography{FILE}}
\clearpage
\end{comment}
\end{document}