3D Visual Mapping Robot

Chan, Shi Jun (2016) 3D Visual Mapping Robot. Final Year Project (Bachelor), Tunku Abdul Rahman University College.

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Abstract

Current exploration robots are equipped with a camera to convenient users avoid obstacle while control the robot and also allow users to have a roughly image of the environment structure, but users unable to know the actual dimension of the environment through the view of camera. 3D Mapping is a technology allow users to view the environment by plotting out the environment in 3D form, hence users not only able to view the environment but also able to know the actual dimension of the environment, because the 3D map was plotted based on the data collected by depth sensor. Besides, users able to save the 3D map for future review purpose. This project aims to develop a 3D mapping robot with able to plot out the environment into 3D form by using Laser-based sensors and the users able to review the 3D map from every angle of the view. At the end of the project, the 3D mapping robot able to plot out an Indoor 3D map by moving forward, and after the mapping process, and users able to control the view by controlling the mouse. But the quality of 3D map could be increase by applying filtering to the data and using better sensor to check the orientation of robot.