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Title: Navigation and localization for stair-climbing robot in narrow space
Authors: Juspi, Bryant
Keywords: Engineering::Mechanical engineering::Mechatronics
Engineering::Computer science and engineering::Computing methodologies::Image processing and computer vision
Issue Date: 2022
Publisher: Nanyang Technological University
Source: Juspi, B. (2022). Navigation and localization for stair-climbing robot in narrow space. Final Year Project (FYP), Nanyang Technological University, Singapore.
Project: A025
Abstract: SLAM, formally known as Simultaneous localization and mapping has been gaining a lot of attention recently because it is now feasible to traverse in an unknown environment without any human operator. The improvements in exploring an unknown environment, responding to unforeseen variables and the ability to run autonomously give autonomous mobile robot great advantages over conventional industrial robot. However, the prevailing issues with SLAM are the limited amount of time in real world applications and the degree of accuracy. The aim of this project is to research and design an indoor navigation SLAM system which allows robot to localize and navigate around stairs. This project also aims to study the suitable object detection model in use with the SLAM system. The object detection model needs to have a balance between inference speed and accuracy of prediction. Therefore, further studies are needed to optimize the object detection model for the SLAM system.
Schools: School of Mechanical and Aerospace Engineering 
Research Centres: Robotics Research Centre 
Fulltext Permission: restricted
Fulltext Availability: With Fulltext
Appears in Collections:MAE Student Reports (FYP/IA/PA/PI)

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