Development Of Simultaneous Localization And Mapping (SLAM) Robot By Using Raspberry Pi

Lim, Hui Teng (2019) Development Of Simultaneous Localization And Mapping (SLAM) Robot By Using Raspberry Pi. Project Report. Universiti Teknikal Malaysia Melaka, Melaka, Malaysia. (Submitted)

Text (24 Pages) Development Of Simultaneous Localization And Mapping (SLAM) Robot By Using Raspberry Pi.pdf - Submitted Version Download (4MB)

Abstract

Simultaneous Localization and Mapping (SLAM) is concerned about building a map while locate the position of mobile robot at a same time. Since GPS is not suitable and weak in localization and mapping the indoor, SLAM system robot is introduced to map the surrounding and locate itself in the map. The aim of this project is to develop a SLAM robot that is able to compute a 3D map of an unknown environment and locate itself on the map. A microcontroller and an RGB-D camera are the main components of this project. The RGB-D camera capture the images with the colour and depth data. The microcontroller receives the data from the RGB-D camera, processes the data to build the map and locate the position of robot in the map by using a SLAM algorithm, ORB-SLAM2 with ROS. The dimension of map constructed by this SLAM robot is in 3D

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