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International Journal of Engineering and Techniques(IJET) Paper Title : SLAM based Autonomous Navigating Object Identifier for an Indoor Environment using 3D - LiDAR and MoBiNet

ISSN : 2395-1303
Year of Publication : 2020
10.29126/23951303/IJET-V6I4P12
Authors: -Rixon Raj R, P.T.V. Bhuvaneswari

         



MLA Style: -Rixon Raj R, P.T.V. Bhuvaneswari " SLAM based Autonomous Navigating Object Identifier for an Indoor Environment using 3D - LiDAR and MoBiNet" Volume 6 - Issue 4(71-76) July - August,2020 International Journal of Engineering and Techniques (IJET) ,ISSN:2395-1303 , www.ijetjournal.org

APA Style: -Rixon Raj R, P.T.V. Bhuvaneswari " SLAM based Autonomous Navigating Object Identifier for an Indoor Environment using 3D - LiDAR and MoBiNet" Volume 6 - Issue 4(71-76) July - August,2020 International Journal of Engineering and Techniques (IJET) ,ISSN:2395-1303 , www.ijetjournal.org

Abstract
- This research work focuses on design and development of a mobile object identifying system for an indoor environment. A robot is designed that maps the entire indoor environment and identifies the objects that are present within the destination location. The developed embedded module uses 3D-LIDAR (Light Imaging Detection and Ranging) to map the environment and Software namely MATLab, Robot Operating System (ROS) and Python for platform development. It also uses SLAM (Simultaneous Localization And Mapping) and PRM (Probabilistic Roadmap) algorithms to perform localization, mapping and path planning.

Reference
1. Jiyu Cheng, Hu Cheng, Max Q.-H. Meng and Hong Zhang, “Autonomous Navigation by Mobile Robots in Human Environments: A Survey” , Proceedings of IEEE International Conference on Robotics and Bio-metrics, December 12-15, 2018, Kuala Lumpur, Malaysia, pp.no 1981- 1986 2. Jie Song, Weiwei Zhang, Xuncheng Wu, Haotian Cao, Qiaoming Gao and Suyun Luo, “Laser-based SLAM automatic parallel parking path planning and tracking for passenger vehicle” IET Intelligent Transport Systems, 2019, Vol. 13, Issue No. 10, pp. 1557-1568. 3. Fumitaka Hashikawa and Kazuyuki Morioka, “Mobile Robot Navigation Based on Interactive SLAM with an Intelligent Space” 8th International Conference on Ubiquitous Robots and Ambient Intelligence, Songdo Conventia, Incheon, Korea, 2011, pp. 788-789. 4. Xieyuanli Chen, Hui Zhang, Huimin Lu, Junhao Xiao, Qihang Qiu, and Yi Li, “Robust SLAM system based on monocular vision and LiDAR for robotic urban search and rescue” IEEE International Symposium on Safety, Security and Rescue Robotics (SSRR) Shanghai, China, October 11-13, 2017, pp. 41-47. 5. Muhammad Hussnain Riaz, Syed Arslan Bukhari, Farooq Mukhtar, Tariq Kamal, Haseeb Sarwar and Muhammad Usman Tahir, “3d Mapping Using Light Detection and Ranging” 20th International Multitopic Conference (INMIC'17), 2017. 6. Jinqiang Bai, Shiguo Lian, Zhaoxiang Liu, Kai Wang and Dijun Liu, “Deep Learning Based Robot for Automatically Picking up Garbage on the Grass” DOI 10.1109/TCE.2018.2859629 IEEE Transactions on Consumer Electronics (TCE), 2018. 7. Alvaro Salmador, Javier Pérez Cid, Ignacio Rodríguez ovelle,"Intelligent Garbage Classifier" in International Journal of Interactive Multimedia and Artificial Intelligence, Vol. 1, No 1, pp.31-36. 8. Andres Torres-García, Oscar Rodea-Aragón, Omar Longoria-Gandara Francisco Sánchez-García, Luis Enrique González-Jiménez "Intelligent Waste Separator ", Computación y Sistemas, Vol. 19, No. 3, 2015, pp. 487–500. 9. S. Zhang and E. Forssberg, “Intelligent liberation and classification of electronic scrap” Powder technology, vol. 105, no. 1, pp. 295–301, 1999. 10. C. Liu, L. Sharan, E. H. Adelson, and R. Rosenholtz, “Exploring features in a bayesian framework for material recognition,” in Computer Vision and Pattern Recognition (CVPR), 2010 IEEE Conference on. IEEE, 2010, pp. 239–246. 11. K. He, X. Zhang, S. Ren, and J. Sun, “Delving deep into rectifiers: Surpassing human level performance on imagenet classification” in The IEEE International Conference on Computer Vision (ICCV), December 2015. 12. . A. Krizhevsky, I. Sutskever, and G. E. Hinton, “Imagenet classification with deep convolutional neural networks” in Advances in Neural Information Processing Systems 25, F. Pereira, C. J. C. Burges, L.Bottou, and K. Q. Weinberger, Eds. Curran Associates, Inc., 2012, pp. 1097–1105.

Keywords
Robot, LIDAR, MATLab, SLAM and PRM.

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