Topological mapping and localization for delivery robot
The last-mile delivery robot is a hot topic. To enable the robot to move autonomously in the city environment, topological map and navigation are of great significance, since it helps the robot work through obstacle-free spaces with rea- sonable calculation and storage requirements. Thus, it is frie...
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| Format: | Thesis-Master by Coursework |
| Language: | English |
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Nanyang Technological University
2022
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| Online Access: | https://hdl.handle.net/10356/155427 |
| _version_ | 1826127242997006336 |
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| author | Hu, Huwei |
| author2 | Wang Dan Wei |
| author_facet | Wang Dan Wei Hu, Huwei |
| author_sort | Hu, Huwei |
| collection | NTU |
| description | The last-mile delivery robot is a hot topic. To enable the robot to move autonomously in the city environment, topological map and navigation are of great significance, since it helps the robot work through obstacle-free spaces with rea- sonable calculation and storage requirements. Thus, it is friendly to indoor and outdoor city environments.
This thesis proposes a topological mapping system that builds topological maps suitable for navigation and obstacle avoidance, with the input of point cloud frames collected from 3D Velodyne Lidar. A region-growing algorithm for topo- logical map building is proposed. Two region-growing rules to build convex obstacle-free clusters in a 3D environment are studied and discussed. The sam- pling method to get the initialization seed point for the region growing algo- rithm is studied and discussed. A map projection method to project the 3D topological map to the 2D map is proposed.
Keywords: Topological mapping, SLAM. |
| first_indexed | 2024-10-01T07:05:37Z |
| format | Thesis-Master by Coursework |
| id | ntu-10356/155427 |
| institution | Nanyang Technological University |
| language | English |
| last_indexed | 2024-10-01T07:05:37Z |
| publishDate | 2022 |
| publisher | Nanyang Technological University |
| record_format | dspace |
| spelling | ntu-10356/1554272023-07-04T15:40:33Z Topological mapping and localization for delivery robot Hu, Huwei Wang Dan Wei School of Electrical and Electronic Engineering EDWWANG@ntu.edu.sg Engineering::Electrical and electronic engineering The last-mile delivery robot is a hot topic. To enable the robot to move autonomously in the city environment, topological map and navigation are of great significance, since it helps the robot work through obstacle-free spaces with rea- sonable calculation and storage requirements. Thus, it is friendly to indoor and outdoor city environments. This thesis proposes a topological mapping system that builds topological maps suitable for navigation and obstacle avoidance, with the input of point cloud frames collected from 3D Velodyne Lidar. A region-growing algorithm for topo- logical map building is proposed. Two region-growing rules to build convex obstacle-free clusters in a 3D environment are studied and discussed. The sam- pling method to get the initialization seed point for the region growing algo- rithm is studied and discussed. A map projection method to project the 3D topological map to the 2D map is proposed. Keywords: Topological mapping, SLAM. Master of Science (Computer Control and Automation) 2022-02-24T01:00:07Z 2022-02-24T01:00:07Z 2021 Thesis-Master by Coursework Hu, H. (2021). Topological mapping and localization for delivery robot. Master's thesis, Nanyang Technological University, Singapore. https://hdl.handle.net/10356/155427 https://hdl.handle.net/10356/155427 en application/pdf Nanyang Technological University |
| spellingShingle | Engineering::Electrical and electronic engineering Hu, Huwei Topological mapping and localization for delivery robot |
| title | Topological mapping and localization for delivery robot |
| title_full | Topological mapping and localization for delivery robot |
| title_fullStr | Topological mapping and localization for delivery robot |
| title_full_unstemmed | Topological mapping and localization for delivery robot |
| title_short | Topological mapping and localization for delivery robot |
| title_sort | topological mapping and localization for delivery robot |
| topic | Engineering::Electrical and electronic engineering |
| url | https://hdl.handle.net/10356/155427 |
| work_keys_str_mv | AT huhuwei topologicalmappingandlocalizationfordeliveryrobot |