Wireless Interconnected Mobile Robot Network Based Mapping and Scanning (PhD Thesis) (Record no. 815195)

MARC details
000 -LEADER
fixed length control field 03216nam a22002297a 4500
008 - FIXED-LENGTH DATA ELEMENTS--GENERAL INFORMATION
fixed length control field 240527s2022 pk ||||| m||| 00| 0 eng d
022 ## - INTERNATIONAL STANDARD SERIAL NUMBER
ISSN-L phd
International Standard Serial Number 98656
041 ## - LANGUAGE CODE
Language code of text/sound track or separate title English
082 ## - DEWEY DECIMAL CLASSIFICATION NUMBER
Classification number 629.89320378242
Item number AHM
100 ## - MAIN ENTRY--PERSONAL NAME
Personal name Asif Ahmed
9 (RLIN) 882383
245 ## - TITLE STATEMENT
Title Wireless Interconnected Mobile Robot Network Based Mapping and Scanning (PhD Thesis)
260 ## - PUBLICATION, DISTRIBUTION, ETC.
Place of publication, distribution, etc. Karachi, :
Name of publisher, distributor, etc. NED University of Engineering and Technology Department of Electronic Engineering,
Date of publication, distribution, etc. 2022
300 ## - PHYSICAL DESCRIPTION
Extent 145 p. :
Other physical details ill.
504 ## - BIBLIOGRAPHY, ETC. NOTE
Bibliography, etc. note Includes Bibliographical References
520 ## - SUMMARY, ETC.
Summary, etc. Abstract <br/><br/>In recent years, researchers developed several solutions for simultaneous localization and mapping (SLAM). However, 3D map development and scanning of a large area by multi-robots are facing several challenges, like the development of 3D maps using integrated multiple scanners and the determination of the robot's relative possess for map merging. <br/>A solution of 3D environment scanning and mapping is presented using small, wheeled robotic units (rovers). It is a two-phase solution, in the first phase, a team of rovers scans the environment using an innovative orthogonal arrangement of two low-cost laser scanners, attached to each rover. One scanner scans the environment horizontally in XY plane and the other one scans vertically in YZ plane. The scans of the vertical scanner transforms with respect to the horizontal scanner. The combination of all scanning data develops a 3D point cloud map of the surveyed vicinity explored by the respective rover. In the second phase, all the maps developed by each rover merged using range data and a larger 3D point cloud map of the surveyed region has developed. <br/>The solution was validated through several experiments, performed in a real indoor environment. Each rover was deployed at different locations in the common environment. During the scanning, a 2D map was developed using the simultaneous localization and mapping (SLAM) technique. Hector SLAM package was applied to develop a 2D map on each rover. The operation of SLAM and abstraction of data of other sensors were performed in Robot Operating System (ROS) and the data has been utilized in offline mode. The generated 2D map data has been transformed in offline mode to develop a 3D map of each rover and later was further processed for merging with other independent maps. The merging was processed through sensors fusion application using Kalman Filter (KF) technique. The established mapping results of the system have been found 98% accurate if compared with the physical dimensions of the explored regions. The point-cloud data of the merged map were applied to the building information model (BIM) and found valid for the surveyed environment. <br/>In analogy to existing surveying and scanning solutions of the regional market, the presented solution found precise and convenient to provide structural information of surveyed entities at a highly affordable cost. <br/><br/>
650 #0 - SUBJECT ADDED ENTRY--TOPICAL TERM
9 (RLIN) 883064
Topical term or geographic name entry element SLAM Thesis
650 #0 - SUBJECT ADDED ENTRY--TOPICAL TERM
9 (RLIN) 883065
Topical term or geographic name entry element Mapping Thesis
650 #0 - SUBJECT ADDED ENTRY--TOPICAL TERM
Topical term or geographic name entry element Wheeled Robotic Units (Rovers) Thesis
9 (RLIN) 883067
650 #0 - SUBJECT ADDED ENTRY--TOPICAL TERM
9 (RLIN) 883066
Topical term or geographic name entry element Kalman Filter KF Thesis
856 ## - ELECTRONIC LOCATION AND ACCESS
Uniform Resource Identifier <a href="https://eaklibrary.neduet.edu.pk:8443/catalog/bk/books/toc/98656.pdf">https://eaklibrary.neduet.edu.pk:8443/catalog/bk/books/toc/98656.pdf</a>
942 ## - ADDED ENTRY ELEMENTS (KOHA)
Source of classification or shelving scheme Dewey Decimal Classification
Koha item type PHD Thesis
Suppress in OPAC No
Holdings
Withdrawn status Lost status Source of classification or shelving scheme Physical Form Damaged status Not for loan Home library Current library Shelving location Date acquired Stock Type Total Checkouts Full call number Barcode Date last seen Accession Date Koha item type
    Dewey Decimal Classification Text, Hardcover     Reference Section Reference Section Reference Section 27/05/2024 Donation   629.89320378242 ASI 98656 27/05/2024 27/05/2024 Reference Collection
    Dewey Decimal Classification Text, Hardcover     Reference Section Reference Section Reference Section 27/05/2024 Donation   629.89320378242 ASI 98657 27/05/2024 27/05/2024 Reference Collection