Master's Dissertation Defense Session No. 285 of PPGEEC - 3D Mapping and Localization of Mobile Robots using LiDAR Sensor

STUDENT: MARCELO ESPINHEIRA CRAVO DE CARVALHO

DATE: 12/17/2024

TIME: 2:00 PM

LOCATION: https://conferenciaweb.rnp.br/webconf/lar-laboratorio-de-robotica-ufba

TITLE: 3D Mapping and Localization of Mobile Robots using LiDAR Sensor

KEYWORDS: Mobile Robotics; LiDAR SLAM; Mapping; Localization;

ABSTRACT: In recent years, the development of simultaneous localization and mapping (SLAM) algorithms using data from LiDAR (Light Detection Ranging) sensors has been increasing. LiDAR sensors are capable of performing 3D scanning in 360° of environments, with relatively low acquisition time and energy consumption, which allows their use in embedded systems. The objective of this research is to study and implement SLAM techniques using LiDAR sensor data to obtain mapping and localization in indoor environments for navigation tasks with mobile robots. In this context, the LeGO-LOAM, A-LOAM and F-LOAM techniques were implemented, aiming to analyze the influence of the volume of static references and geometric features on the quality of the mapping and accuracy of the instantaneous localization. The LOAM strategies capture geometric features from the classification of the points of the cloud captured by the LiDAR sensor, and subsequently identify correspondence between consecutive scans to obtain the location estimate. To analyze the performance of the techniques, they were tested in simulation and in a real environment. The simulator used was the Gazebo, the Husky mobile robot, the Velodyne VLP-16 LiDAR sensor, with scans performed in the following environments: in a closed straight corridor with windows, a closed straight corridor without windows, a closed square corridor and in a 3D model of the LaR - Robotics Laboratory of DEEC/UFBA. The real experiments were conducted in the LaR, using the Husky mobile robot, the Velodyne VLP-16 LiDAR sensor and the Optitrack 3D motion capture system.

MEMBERS OF THE BOARD:

ANDRE GUSTAVO SCOLARI CONCEICAO (ADVISOR)       UFBA

PAULO CESAR MACHADO DE ABREU FARIAS                  UFBA

TIAGO TRINDADE RIBEIRO                                           UFBA

TITO LUIS MAIA SANTOS                                              UFBA

EDUARDO TELMO FONSECA SANTOS                             IFBA

Em 06/12/2024