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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| Format: | Final Year Project (FYP) |
| Language: | English |
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Nanyang Technological University
2024
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| Online Access: | https://hdl.handle.net/10356/176288 |
| _version_ | 1826122552448122880 |
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| author | Ang, Ken Huat |
| author2 | Andy Khong W H |
| author_facet | Andy Khong W H Ang, Ken Huat |
| author_sort | Ang, Ken Huat |
| collection | NTU |
| 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. |
| first_indexed | 2024-10-01T05:50:02Z |
| format | Final Year Project (FYP) |
| id | ntu-10356/176288 |
| institution | Nanyang Technological University |
| language | English |
| last_indexed | 2024-10-01T05:50:02Z |
| publishDate | 2024 |
| publisher | Nanyang Technological University |
| record_format | dspace |
| spelling | ntu-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 |
| spellingShingle | Engineering LiDAR Robotics SLAM algorithms Ang, Ken Huat Implementing LiDAR-based SLAM algorithms for enhanced mapping and localization in physical robots |
| title | 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_short | 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 |
| topic | Engineering LiDAR Robotics SLAM algorithms |
| url | https://hdl.handle.net/10356/176288 |
| work_keys_str_mv | AT angkenhuat implementinglidarbasedslamalgorithmsforenhancedmappingandlocalizationinphysicalrobots |