An approach to improve simultaneous localization and mapping in human populated environments

Simple item page
dc.contributor.advisorBarrios Aranibar, Dennis
dc.contributor.authorInofuente Colque, Kevin Adier
dc.date.accessioned2021-12-21T17:55:09Z
dc.date.available2021-12-21T17:55:09Z
dc.date.issued2021
dc.description.abstractOne task that autonomous mobile robots have to perform in indoor spaces is to construct the map of their environment and report their location and orientation. This process is called Simultaneous Localization and Mapping (SLAM). To do so, robots extract data through their sensors. However, in dynamic indoor environments, moving objects induce the SLAM process to collapse or diverge. Moving objects should not be taken into account to generate the map and the occlusions that they generate should be solved. In this work, we propose a robust and flexible approach for SLAM algorithms to perform better in human populated environments; by integrating a filtering scheme that manages moving and static objects. To illustrate the suitability of our approach, we implement Gmapping, as the classical SLAM algorithm, and RANSAC as the filter. Nevertheless, any other SLAM algorithm and filter can be implemented. The simulation tests have been carried out using three museum environments, which the robot can face in real life. Through the results obtained, it is possible to conclude that the proposed approach is efficient in managing the sensor data, filtering the outliers, and thus removing dynamic objects from the map.es_PE
dc.description.uriTrabajo académicoes_PE
dc.identifier.doihttps://doi.org/10.1109/LARS/SBR/WRE54079.2021.9605464es_PE
dc.identifier.issn2639-1775
dc.identifier.journalIEEE Xplorees_PE
dc.identifier.urihttps://hdl.handle.net/20.500.12590/16980
dc.language.isoenges_PE
dc.publisherIEEEes_PE
dc.publisher.countryBRes_PE
dc.relationinfo:eu-repo/semantics/articlees_PE
dc.relation.urihttps://ieeexplore.ieee.org/document/9605464es_PE
dc.rightsinfo:eu-repo/semantics/restrictedAccesses_PE
dc.sourceUniversidad Católica San Pabloes_PE
dc.sourceRepositorio Institucional - UCSPes_PE
dc.subjectSimultaneous localization and mappinges_PE
dc.subjectSLAM in crowded environmentses_PE
dc.subjectRANSACes_PE
dc.subjectGmappinges_PE
dc.subjectICPes_PE
dc.subject.ocdehttp://purl.org/pe-repo/ocde/ford#2.02.02es_PE
dc.titleAn approach to improve simultaneous localization and mapping in human populated environmentses_PE
dc.typeinfo:eu-repo/semantics/article
dc.type.versioninfo:eu-repo/semantics/publishedVersiones_PE
renati.advisor.dni40390913
renati.advisor.orcidhttps://orcid.org/0000-0001-7482-3390es_PE
renati.author.dni74160798
renati.discipline712096es_PE
renati.jurorJimmy Diestin Ludeña Choezes_PE
renati.jurorIrvin Franco Benito Dongo Escalantees_PE
renati.levelhttps://purl.org/pe-repo/renati/level#tituloProfesional
renati.typehttps://purl.org/pe-repo/renati/type#trabajoAcademico
thesis.degree.disciplineIngeniería Electrónica y de Telecomunicacioneses_PE
thesis.degree.grantorUniversidad Católica San Pablo. Departamento de Ingeniería Eléctrica y Electrónicaes_PE
thesis.degree.levelTítulo Profesionales_PE
thesis.degree.nameIngeniero Electrónico y de Telecomunicacioneses_PE
thesis.degree.programEscuela Profesional de Ingeniería Electrónica y de Telecomunicacioneses_PE
Files
License bundle
Now showing 1 - 1 of 1
No Thumbnail Available
Name:
license.txt
Size:
1.71 KB
Format:
Item-specific license agreed upon to submission
Description:
Download
Collections
Artículos - Ingeniería Electrónica y de Telecomunicaciones