Hybrid lidar and vision-based SLAM of autonomous forklift | |
| Author | Piyawat Apiwattanadej |
| Call Number | AIT Thesis no.ISE-21-21 |
| Subject(s) | Mobile geographic information systems Robot vision Optical radar |
| Note | A thesis submitted in partial fulfillment of the requirements for the degree of Master of Engineering in Mechatronics |
| Publisher | Asian Institute of Technology |
| Abstract | In this research, the hybrid lidar and vision-based simultaneous localization and mapping (SLAM) system for autonomous forklift will be proposed. This SLAM system is capable of localize its position while building the map from surrounding environment. In case that system is kidnapped during the system is shutdown, the system also able to re-localization its position by given the map of the environment and compare with current scanned point cloud from lidar to recognize system’s position and heading. The system is consisted of camera for Optical Flow based visual odometry in order to calculate relative transformation between two consecutive positions of system while lidar is used to detect environment around the system and using point cloud from lidar with relative position information from visual odometry for fine tuning the system’s position using Iterative Closest Point (ICP) algorithm. This system will be installed on forklift to localize position of forklift during navigation task. |
| Year | 2021 |
| Type | Thesis |
| School | School of Engineering and Technology (SET) |
| Department | Department of Industrial Systems Engineering (DISE) |
| Academic Program/FoS | Industrial Systems Engineering (ISE) |
| Chairperson(s) | Manukid Parnichkun |
| Examination Committee(s) | Dailey, Matthew N.;Mongkol Ekpanyapong |
| Scholarship Donor(s) | Siam Kubota Corporation Co., Ltd. Thailand |
| Degree | Thesis (M. Eng.) - Asian Institute of Technology, 2021 |