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Title: Vision assisted object detection In LIDAR point cloud
Authors: Yuen, Wei Chee
Keywords: Engineering::Electrical and electronic engineering
Issue Date: 2022
Publisher: Nanyang Technological University
Source: Yuen, W. C. (2022). Vision assisted object detection In LIDAR point cloud. Final Year Project (FYP), Nanyang Technological University, Singapore.
Project: A1186-211
Abstract: In the age of Industry 4.0, the usage of autonomous guided robots has become a commonplace, especially in logistics, transport and manufacturing. With more labor-intensive operations being highly automated as a solution to improve the efficiency of manufacturing processes, autonomous guided vehicles (AGVs) are deployed to facilitate transportation of materials and finished products. The key to success is to develop a robust and secure avoidance policy for robots, therefore ensuring the safe maneuverability of the robot. The usage of a 2D LiDAR only for object collision avoidance results in frequent stop in navigation due to lack of target identification. Therefore, this project focuses on the training of a lightweight object detection model and the alignment of a LiDAR point cloud with the object detection model based on the live video footage from the RGB camera to provide a vision assisted object detection to enable the AGV to navigate and avoid obstacles in a dynamic environment. It is able to continuously track the target object , while navigating through a dynamic environment, avoiding obstacles.
Schools: School of Electrical and Electronic Engineering 
Fulltext Permission: restricted
Fulltext Availability: With Fulltext
Appears in Collections:EEE Student Reports (FYP/IA/PA/PI)

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