Navigation and localization for stair-climbing robot in narrow space
SLAM, formally known as Simultaneous localization and mapping has been gaining a lot of attention recently because it is now feasible to traverse in an unknown environment without any human operator. The improvements in exploring an unknown environment, responding to unforeseen variables and the abi...
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| Format: | Final Year Project (FYP) |
| Language: | English |
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Nanyang Technological University
2022
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| Online Access: | https://hdl.handle.net/10356/158947 |
| _version_ | 1811685293612335104 |
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| author | Juspi, Bryant |
| author2 | Chen I-Ming |
| author_facet | Chen I-Ming Juspi, Bryant |
| author_sort | Juspi, Bryant |
| collection | NTU |
| description | SLAM, formally known as Simultaneous localization and mapping has been gaining a lot of attention recently because it is now feasible to traverse in an unknown environment without any human operator. The improvements in exploring an unknown environment, responding to unforeseen variables and the ability to run autonomously give autonomous mobile robot great advantages over conventional industrial robot. However, the prevailing issues with SLAM are the limited amount of time in real world applications and the degree of accuracy. The aim of this project is to research and design an indoor navigation SLAM system which allows robot to localize and navigate around stairs. This project also aims to study the suitable object detection model in use with the SLAM system. The object detection model needs to have a balance between inference speed and accuracy of prediction. Therefore, further studies are needed to optimize the object detection model for the SLAM system. |
| first_indexed | 2024-10-01T04:42:13Z |
| format | Final Year Project (FYP) |
| id | ntu-10356/158947 |
| institution | Nanyang Technological University |
| language | English |
| last_indexed | 2024-10-01T04:42:13Z |
| publishDate | 2022 |
| publisher | Nanyang Technological University |
| record_format | dspace |
| spelling | ntu-10356/1589472023-03-04T20:13:21Z Navigation and localization for stair-climbing robot in narrow space Juspi, Bryant Chen I-Ming School of Mechanical and Aerospace Engineering Robotics Research Centre MICHEN@ntu.edu.sg Engineering::Mechanical engineering::Mechatronics Engineering::Computer science and engineering::Computing methodologies::Image processing and computer vision SLAM, formally known as Simultaneous localization and mapping has been gaining a lot of attention recently because it is now feasible to traverse in an unknown environment without any human operator. The improvements in exploring an unknown environment, responding to unforeseen variables and the ability to run autonomously give autonomous mobile robot great advantages over conventional industrial robot. However, the prevailing issues with SLAM are the limited amount of time in real world applications and the degree of accuracy. The aim of this project is to research and design an indoor navigation SLAM system which allows robot to localize and navigate around stairs. This project also aims to study the suitable object detection model in use with the SLAM system. The object detection model needs to have a balance between inference speed and accuracy of prediction. Therefore, further studies are needed to optimize the object detection model for the SLAM system. Bachelor of Engineering (Mechanical Engineering) 2022-06-08T04:04:53Z 2022-06-08T04:04:53Z 2022 Final Year Project (FYP) Juspi, B. (2022). Navigation and localization for stair-climbing robot in narrow space. Final Year Project (FYP), Nanyang Technological University, Singapore. https://hdl.handle.net/10356/158947 https://hdl.handle.net/10356/158947 en A025 application/pdf Nanyang Technological University |
| spellingShingle | Engineering::Mechanical engineering::Mechatronics Engineering::Computer science and engineering::Computing methodologies::Image processing and computer vision Juspi, Bryant Navigation and localization for stair-climbing robot in narrow space |
| title | Navigation and localization for stair-climbing robot in narrow space |
| title_full | Navigation and localization for stair-climbing robot in narrow space |
| title_fullStr | Navigation and localization for stair-climbing robot in narrow space |
| title_full_unstemmed | Navigation and localization for stair-climbing robot in narrow space |
| title_short | Navigation and localization for stair-climbing robot in narrow space |
| title_sort | navigation and localization for stair climbing robot in narrow space |
| topic | Engineering::Mechanical engineering::Mechatronics Engineering::Computer science and engineering::Computing methodologies::Image processing and computer vision |
| url | https://hdl.handle.net/10356/158947 |
| work_keys_str_mv | AT juspibryant navigationandlocalizationforstairclimbingrobotinnarrowspace |