24.05.178
629.892 - Robots
Karya Ilmiah - Thesis (S2) - Reference
Robot Vision - Computer Vision
27 kali
<p>A mobile robot is a software-controlled machine that uses sensors and other technologies to recognize the environment it’s in and complete a predefined task. A lot of research has been done onfieldsle robots, and mobile robots themselves have many applications in various fields, and one of them is search and rescue. In a search and rescue scenario, mobile robots can be used to map and search for victims in an unknown environment in disaster struck environment, in particular earthquake disaster.</p>
<p>In this thesis we propose a semantic SLAM system to be used in a mobile robot in a search and rescue scenario. We use ORB-SLAM as the base SLAM algorithm for the system using Yolov8 as an object detection to detect victims in the area. The system will then build a semantic map with location of victims within the area to help in creating an effective rescue operation, while removing the map point that belongs to a person to improve accuracy against moving person. The system will be built with ROS as the framework and Raspberry Pi as the mobile robot controller.</p>
<p>The system in this thesis shows that the mobile robot could create a Semantic Map with the location of human victim marked. And improved the accuracy of ORB-SLAM3 when tested on TUM RGB-D Dataset.</p>
Tersedia 1 dari total 1 Koleksi
Nama | BENYAMIN DELAMAI TANTO |
Jenis | Perorangan |
Penyunting | Sony Sumaryo, Erwin Susanto |
Penerjemah |
Nama | Universitas Telkom, S2 Teknik Elektro |
Kota | Bandung |
Tahun | 2024 |
Harga sewa | IDR 0,00 |
Denda harian | IDR 0,00 |
Jenis | Non-Sirkulasi |