Performance evaluation of EKF-SLAM algorithm using an ASC in marine environments
This report examines how different sensor data captured can be fused to the Simultaneous Localization and Mapping (SLAM) algorithm to improve the navigation of the Autonomous Surface Craft. It will first look into the on-board system and the different sensors used to capture the data. Following whic...
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| Format: | Final Year Project (FYP) |
| Language: | English |
| Published: |
2012
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| Online Access: | http://hdl.handle.net/10356/49472 |
| _version_ | 1826120974951514112 |
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| author | Si, Jian Wen. |
| author2 | Wang Dan Wei |
| author_facet | Wang Dan Wei Si, Jian Wen. |
| author_sort | Si, Jian Wen. |
| collection | NTU |
| description | This report examines how different sensor data captured can be fused to the Simultaneous Localization and Mapping (SLAM) algorithm to improve the navigation of the Autonomous Surface Craft. It will first look into the on-board system and the different sensors used to capture the data. Following which, it will also look into the process and techniques used for data extraction. Feature extraction plays an important part in map building and improving the accuracy of the SLAM algorithm and will be discussed in detail. Concepts and usage of the SLAM algorithm will play a major role in finding ways to fuse the sensor data and improving the algorithm.
Simultaneous Localization and Mapping (SLAM) algorithm plays a key role in autonomous vehicles and robotics. Autonomous vehicles make use of this SLAM algorithm to perform autonomous navigation, building an estimated map of the unknown environment and surroundings and also to perform obstacle avoidance while being able to locate its own position estimates. There are different types of SLAM algorithm being used. This report will highlight the experimental results from integrating different sensors to the Autonomous Surface Craft and perform simulation using different SLAM algorithm to improve the performance of the navigation of the Autonomous Surface Craft. |
| first_indexed | 2024-10-01T05:25:12Z |
| format | Final Year Project (FYP) |
| id | ntu-10356/49472 |
| institution | Nanyang Technological University |
| language | English |
| last_indexed | 2024-10-01T05:25:12Z |
| publishDate | 2012 |
| record_format | dspace |
| spelling | ntu-10356/494722023-07-07T16:36:51Z Performance evaluation of EKF-SLAM algorithm using an ASC in marine environments Si, Jian Wen. Wang Dan Wei School of Electrical and Electronic Engineering DRNTU::Engineering::Electrical and electronic engineering::Computer hardware, software and systems This report examines how different sensor data captured can be fused to the Simultaneous Localization and Mapping (SLAM) algorithm to improve the navigation of the Autonomous Surface Craft. It will first look into the on-board system and the different sensors used to capture the data. Following which, it will also look into the process and techniques used for data extraction. Feature extraction plays an important part in map building and improving the accuracy of the SLAM algorithm and will be discussed in detail. Concepts and usage of the SLAM algorithm will play a major role in finding ways to fuse the sensor data and improving the algorithm. Simultaneous Localization and Mapping (SLAM) algorithm plays a key role in autonomous vehicles and robotics. Autonomous vehicles make use of this SLAM algorithm to perform autonomous navigation, building an estimated map of the unknown environment and surroundings and also to perform obstacle avoidance while being able to locate its own position estimates. There are different types of SLAM algorithm being used. This report will highlight the experimental results from integrating different sensors to the Autonomous Surface Craft and perform simulation using different SLAM algorithm to improve the performance of the navigation of the Autonomous Surface Craft. Bachelor of Engineering 2012-05-21T01:30:04Z 2012-05-21T01:30:04Z 2012 2012 Final Year Project (FYP) http://hdl.handle.net/10356/49472 en Nanyang Technological University 52 p. application/pdf |
| spellingShingle | DRNTU::Engineering::Electrical and electronic engineering::Computer hardware, software and systems Si, Jian Wen. Performance evaluation of EKF-SLAM algorithm using an ASC in marine environments |
| title | Performance evaluation of EKF-SLAM algorithm using an ASC in marine environments |
| title_full | Performance evaluation of EKF-SLAM algorithm using an ASC in marine environments |
| title_fullStr | Performance evaluation of EKF-SLAM algorithm using an ASC in marine environments |
| title_full_unstemmed | Performance evaluation of EKF-SLAM algorithm using an ASC in marine environments |
| title_short | Performance evaluation of EKF-SLAM algorithm using an ASC in marine environments |
| title_sort | performance evaluation of ekf slam algorithm using an asc in marine environments |
| topic | DRNTU::Engineering::Electrical and electronic engineering::Computer hardware, software and systems |
| url | http://hdl.handle.net/10356/49472 |
| work_keys_str_mv | AT sijianwen performanceevaluationofekfslamalgorithmusinganascinmarineenvironments |