Reconstructing Environment Model with SLAM on UV-LiDAR System

Abstract

As UV researches and marketing have delivered an explosive growth in the recent decades more and more demands have been raised by users A number of developments and researches of sensors peripherals and ability for UVs have been prompted to solve a variety of problems and missions for fulfilling these demands The most common one among these desired abilities mentioned above is the “vision” The proposed system of this study first collects odometry data with LiDARs which is mounted on a rotatory platform then the data are collected and gathered into a map by an embedded device with SLAM package also the pose estimation of LiDARs is finished at the same time Finally these information of pose and map are published via Wi-Fi With this system UVs are able to know its orientation and “see” the surroundings without the aid of IMU GPS and other sensors and give an real-time information to the user to know the situation of UV at the same time

Date of Award	2016 Aug 11
Original language	English
Supervisor	Teh-Lu Liao (Supervisor)