Loop Closure using laser 2D

A fundamental necessity in mobile robotics is the ability of knowing the robot own location. In many applications, a map of the environment is not available or it does not have the accuracy or the information necessary for robot localization. In this cases, it is necessary to build a map simultaneou...

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Detalles Bibliográficos
Autor: Pujol Badell, Sergi
Tipo de recurso: tesis de maestría
Fecha de publicación:2021
País:España
Institución:Universitat Politècnica de Catalunya (UPC)
Repositorio:UPCommons. Portal del coneixement obert de la UPC
Idioma:inglés
OAI Identifier:oai:upcommons.upc.edu:2117/355855
Acceso en línea:https://hdl.handle.net/2117/355855
Access Level:acceso abierto
Palabra clave:Robot vision -- Mathematical models -- Software
Adaptive control systems -- Design and construction
Autonomous robots
Visió artificial (Robòtica) -- Models matemàtics -- Programari
Sistemes adaptatius -- Disseny i construcció
Robots autònoms
Àrees temàtiques de la UPC::Informàtica::Robòtica
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spelling Loop Closure using laser 2DPujol Badell, SergiRobot vision -- Mathematical models -- SoftwareAdaptive control systems -- Design and constructionAutonomous robotsVisió artificial (Robòtica) -- Models matemàtics -- ProgramariSistemes adaptatius -- Disseny i construccióRobots autònomsÀrees temàtiques de la UPC::Informàtica::RobòticaA fundamental necessity in mobile robotics is the ability of knowing the robot own location. In many applications, a map of the environment is not available or it does not have the accuracy or the information necessary for robot localization. In this cases, it is necessary to build a map simultaneously (SLAM). In applications where the GPS signal is not reliable, like in indoor environments, the localization has to be based in estimating robot position with the information of the robot movement. This estimation is obtained in local coordinates and it implies that a drift in the estimation accumulates error over time. In order to reduce the drift effects, it is necessary the capacity to recognize places that had already been visited and readjust the localization. This search of loop closures provides global reference points to the localization system. This field of study is already a very discussed topic, but finding an equilibrium between efficiency and robustness in order to be able to work in large environments is still a challenge. The aim of this work is to equip the WOLF SLAM library with an state-of-art loop closure for 2D LIDAR sensors. WOLF SLAM library is integrated with ROS and proposes an interesting environment to manage SLAM and localization problems based in graph-SLAM. In this work, we first performed a review of the state of the art for loop closure that lead us to FALKO. It is an open source project focused in loop closure that implements feature detection and scene matching using descriptors. Furthermore, the FALKO loop closure algorithm has been integrated along with an Iterative Closest Point method for robustness and accuracy purposes. ICP is a point to line metric optimized for range-finder scan matching. The integration and developed algorithms has been tested with experimental data from a real robotUniversitat Politècnica de CatalunyaVallvé Navarro, JoanPuig Cayuela, Vicenç20212021-10-2220212021-11-09master thesishttp://purl.org/coar/resource_type/c_bdccNAhttp://purl.org/coar/version/c_be7fb7dd8ff6fe43info:eu-repo/semantics/masterThesisapplication/pdfhttps://hdl.handle.net/2117/355855reponame:UPCommons. Portal del coneixement obert de la UPCinstname:Universitat Politècnica de Catalunya (UPC)Inglésengopen accesshttp://purl.org/coar/access_right/c_abf2info:eu-repo/semantics/openAccessoai:upcommons.upc.edu:2117/3558552026-05-27T15:37:01Z
dc.title.none.fl_str_mv Loop Closure using laser 2D
title Loop Closure using laser 2D
spellingShingle Loop Closure using laser 2D
Pujol Badell, Sergi
Robot vision -- Mathematical models -- Software
Adaptive control systems -- Design and construction
Autonomous robots
Visió artificial (Robòtica) -- Models matemàtics -- Programari
Sistemes adaptatius -- Disseny i construcció
Robots autònoms
Àrees temàtiques de la UPC::Informàtica::Robòtica
title_short Loop Closure using laser 2D
title_full Loop Closure using laser 2D
title_fullStr Loop Closure using laser 2D
title_full_unstemmed Loop Closure using laser 2D
title_sort Loop Closure using laser 2D
dc.creator.none.fl_str_mv Pujol Badell, Sergi
author Pujol Badell, Sergi
author_facet Pujol Badell, Sergi
author_role author
dc.contributor.none.fl_str_mv Vallvé Navarro, Joan
Puig Cayuela, Vicenç
dc.subject.none.fl_str_mv Robot vision -- Mathematical models -- Software
Adaptive control systems -- Design and construction
Autonomous robots
Visió artificial (Robòtica) -- Models matemàtics -- Programari
Sistemes adaptatius -- Disseny i construcció
Robots autònoms
Àrees temàtiques de la UPC::Informàtica::Robòtica
topic Robot vision -- Mathematical models -- Software
Adaptive control systems -- Design and construction
Autonomous robots
Visió artificial (Robòtica) -- Models matemàtics -- Programari
Sistemes adaptatius -- Disseny i construcció
Robots autònoms
Àrees temàtiques de la UPC::Informàtica::Robòtica
description A fundamental necessity in mobile robotics is the ability of knowing the robot own location. In many applications, a map of the environment is not available or it does not have the accuracy or the information necessary for robot localization. In this cases, it is necessary to build a map simultaneously (SLAM). In applications where the GPS signal is not reliable, like in indoor environments, the localization has to be based in estimating robot position with the information of the robot movement. This estimation is obtained in local coordinates and it implies that a drift in the estimation accumulates error over time. In order to reduce the drift effects, it is necessary the capacity to recognize places that had already been visited and readjust the localization. This search of loop closures provides global reference points to the localization system. This field of study is already a very discussed topic, but finding an equilibrium between efficiency and robustness in order to be able to work in large environments is still a challenge. The aim of this work is to equip the WOLF SLAM library with an state-of-art loop closure for 2D LIDAR sensors. WOLF SLAM library is integrated with ROS and proposes an interesting environment to manage SLAM and localization problems based in graph-SLAM. In this work, we first performed a review of the state of the art for loop closure that lead us to FALKO. It is an open source project focused in loop closure that implements feature detection and scene matching using descriptors. Furthermore, the FALKO loop closure algorithm has been integrated along with an Iterative Closest Point method for robustness and accuracy purposes. ICP is a point to line metric optimized for range-finder scan matching. The integration and developed algorithms has been tested with experimental data from a real robot
publishDate 2021
dc.date.none.fl_str_mv 2021
2021-10-22
2021
2021-11-09
dc.type.none.fl_str_mv master thesis
http://purl.org/coar/resource_type/c_bdcc
NA
http://purl.org/coar/version/c_be7fb7dd8ff6fe43
dc.type.openaire.fl_str_mv info:eu-repo/semantics/masterThesis
format masterThesis
dc.identifier.none.fl_str_mv https://hdl.handle.net/2117/355855
url https://hdl.handle.net/2117/355855
dc.language.none.fl_str_mv Inglés
eng
language_invalid_str_mv Inglés
language eng
dc.rights.none.fl_str_mv open access
http://purl.org/coar/access_right/c_abf2
dc.rights.openaire.fl_str_mv info:eu-repo/semantics/openAccess
rights_invalid_str_mv open access
http://purl.org/coar/access_right/c_abf2
eu_rights_str_mv openAccess
dc.format.none.fl_str_mv application/pdf
dc.publisher.none.fl_str_mv Universitat Politècnica de Catalunya
publisher.none.fl_str_mv Universitat Politècnica de Catalunya
dc.source.none.fl_str_mv reponame:UPCommons. Portal del coneixement obert de la UPC
instname:Universitat Politècnica de Catalunya (UPC)
instname_str Universitat Politècnica de Catalunya (UPC)
reponame_str UPCommons. Portal del coneixement obert de la UPC
collection UPCommons. Portal del coneixement obert de la UPC
repository.name.fl_str_mv
repository.mail.fl_str_mv
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