Implementing LiDAR-based SLAM algorithms for enhanced mapping and localization in physical robots

Implementing LiDAR-based SLAM algorithms for enhanced mapping and localization in physical robots

This study investigates SLAM techniques to overcome challenges in feature scarcity, computational load, and motion-induced distortions for autonomous mobile robots. Three SLAM algorithms are tested for LiDAR-inertial odometry, with FAST-LIO emerging as the recommended choice. Leveraging Livox MID-36...

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Main Author: Ang, Ken Huat
Other Authors: Andy Khong W H
Format: Final Year Project
Language:English
Published: Nanyang Technological University 2024
Subjects:
Engineering
LiDAR
Robotics
SLAM algorithms
Online Access:https://hdl.handle.net/10356/176288
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Institution: Nanyang Technological University
Language: English
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spelling sg-ntu-dr.10356-1762882024-05-17T15:45:02Z Implementing LiDAR-based SLAM algorithms for enhanced mapping and localization in physical robots Ang, Ken Huat Andy Khong W H School of Electrical and Electronic Engineering AndyKhong@ntu.edu.sg Engineering LiDAR Robotics SLAM algorithms This study investigates SLAM techniques to overcome challenges in feature scarcity, computational load, and motion-induced distortions for autonomous mobile robots. Three SLAM algorithms are tested for LiDAR-inertial odometry, with FAST-LIO emerging as the recommended choice. Leveraging Livox MID-360 LiDAR, the study aims to enhance localization and situational awareness, expanding the practical applications of autonomous robots and UAVs. Bachelor's degree 2024-05-15T07:13:18Z 2024-05-15T07:13:18Z 2024 Final Year Project (FYP) Ang, K. H. (2024). Implementing LiDAR-based SLAM algorithms for enhanced mapping and localization in physical robots. Final Year Project (FYP), Nanyang Technological University, Singapore. https://hdl.handle.net/10356/176288 https://hdl.handle.net/10356/176288 en A3265-231 application/pdf Nanyang Technological University
institution Nanyang Technological University
building NTU Library
continent Asia
country Singapore
Singapore
content_provider NTU Library
collection DR-NTU
language English
topic Engineering
LiDAR
Robotics
SLAM algorithms
spellingShingle Engineering
LiDAR
Robotics
SLAM algorithms
Ang, Ken Huat
Implementing LiDAR-based SLAM algorithms for enhanced mapping and localization in physical robots
description This study investigates SLAM techniques to overcome challenges in feature scarcity, computational load, and motion-induced distortions for autonomous mobile robots. Three SLAM algorithms are tested for LiDAR-inertial odometry, with FAST-LIO emerging as the recommended choice. Leveraging Livox MID-360 LiDAR, the study aims to enhance localization and situational awareness, expanding the practical applications of autonomous robots and UAVs.
author2 Andy Khong W H
author_facet Andy Khong W H
Ang, Ken Huat
format Final Year Project
author Ang, Ken Huat
author_sort Ang, Ken Huat
title Implementing LiDAR-based SLAM algorithms for enhanced mapping and localization in physical robots
title_short Implementing LiDAR-based SLAM algorithms for enhanced mapping and localization in physical robots
title_full Implementing LiDAR-based SLAM algorithms for enhanced mapping and localization in physical robots
title_fullStr Implementing LiDAR-based SLAM algorithms for enhanced mapping and localization in physical robots
title_full_unstemmed Implementing LiDAR-based SLAM algorithms for enhanced mapping and localization in physical robots
title_sort implementing lidar-based slam algorithms for enhanced mapping and localization in physical robots
publisher Nanyang Technological University
publishDate 2024
url https://hdl.handle.net/10356/176288
_version_ 1800916422140887040

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