On reusable SLAM

Broenink, T.G. (2016) On reusable SLAM.

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Abstract:This project aims to reduce the deployment and development time of SLAMsystems for robotic projects. This is done by creating a clearly defined structure in which to develop SLAM algorithms and supporting software in a modular approach. The structure is defined based on a separation of concerns and the identification of dependencies of the different parts of a SLAM system on the underlying hardware and the environment. Based on this structure a simple SLAM system is implemented based on a simulation of a robot with a LIDAR. This system uses a general purpose feature detector for the LIDAR data and a version of the Fast-SLAM algorithm. The single system that is implemented in the designed structure is tested in order to determine the best configuration. Based on these test the system is functional, from which it can be concluded that the structure works. A improvement that can still be made on the structure is the feature association. This association is not yet separated from the SLAM algorithm. This should be implemented in future work. The feature selector used for the system has a flaw in the current environment: due to the close detection of different features, correct association of features becomes a problem. A feature detector with unique classifiers for every feature would therefore be better suited for these kind of problems. The created structure could also lead to large performance optimizations, as parts of the system could be implemented on dedicated hardware, e.g. FPGAs.
Item Type:Essay (Master)
Faculty:EEMCS: Electrical Engineering, Mathematics and Computer Science
Subject:53 electrotechnology
Programme:Electrical Engineering MSc (60353)
Link to this item:http://purl.utwente.nl/essays/70980
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