Localización y mapeo simultáneo con LIDAR para plataformas robóticas

Los sistemas LIDAR de detección de luz y rango a bordo de las plataformas móviles están en rápido avance para las aplicaciones de mapeo en tiempo real. Los escáneres láser 3D modernos tienen una alta velocidad de datos que, junto con la complejidad de sus métodos de procesamiento, hace que la locali...

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Autores:
Rubio Aguiar, Cristian Felipe
Tipo de recurso:
Trabajo de grado de pregrado
Fecha de publicación:
2021
Institución:
Universidad de Ibagué
Repositorio:
Repositorio Universidad de Ibagué
Idioma:
spa
OAI Identifier:
oai:repositorio.unibague.edu.co:20.500.12313/4994
Acceso en línea:
https://hdl.handle.net/20.500.12313/4994
Palabra clave:
LIDAR - Mapeo simultáneo
Localización simultáneo con LIDAR
Plataformas robóticas
SLAM
LiDAR
Nubes de puntos
Odometría
LOAM
KITTI
SLAM
LiDAR
Point Clouds
Point Clouds
Odometry
LOAM
KITTI
Rights
openAccess
License
http://purl.org/coar/access_right/c_abf2
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network_name_str Repositorio Universidad de Ibagué
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dc.title.spa.fl_str_mv Localización y mapeo simultáneo con LIDAR para plataformas robóticas
title Localización y mapeo simultáneo con LIDAR para plataformas robóticas
spellingShingle Localización y mapeo simultáneo con LIDAR para plataformas robóticas
LIDAR - Mapeo simultáneo
Localización simultáneo con LIDAR
Plataformas robóticas
SLAM
LiDAR
Nubes de puntos
Odometría
LOAM
KITTI
SLAM
LiDAR
Point Clouds
Point Clouds
Odometry
LOAM
KITTI
title_short Localización y mapeo simultáneo con LIDAR para plataformas robóticas
title_full Localización y mapeo simultáneo con LIDAR para plataformas robóticas
title_fullStr Localización y mapeo simultáneo con LIDAR para plataformas robóticas
title_full_unstemmed Localización y mapeo simultáneo con LIDAR para plataformas robóticas
title_sort Localización y mapeo simultáneo con LIDAR para plataformas robóticas
dc.creator.fl_str_mv Rubio Aguiar, Cristian Felipe
dc.contributor.advisor.none.fl_str_mv Murcia Moreno, Harold Fabian
dc.contributor.author.none.fl_str_mv Rubio Aguiar, Cristian Felipe
dc.subject.armarc.none.fl_str_mv LIDAR - Mapeo simultáneo
Localización simultáneo con LIDAR
Plataformas robóticas
topic LIDAR - Mapeo simultáneo
Localización simultáneo con LIDAR
Plataformas robóticas
SLAM
LiDAR
Nubes de puntos
Odometría
LOAM
KITTI
SLAM
LiDAR
Point Clouds
Point Clouds
Odometry
LOAM
KITTI
dc.subject.proposal.spa.fl_str_mv SLAM
LiDAR
Nubes de puntos
Odometría
LOAM
KITTI
dc.subject.proposal.eng.fl_str_mv SLAM
LiDAR
Point Clouds
Point Clouds
Odometry
LOAM
KITTI
description Los sistemas LIDAR de detección de luz y rango a bordo de las plataformas móviles están en rápido avance para las aplicaciones de mapeo en tiempo real. Los escáneres láser 3D modernos tienen una alta velocidad de datos que, junto con la complejidad de sus métodos de procesamiento, hace que la localización y mapeo en línea simultáneos (SLAM) sea un desafío computacional. En los últimos años han surgido diferentes algoritmos 3D LiDAR SLAM, entre los que destaca la Odometría y Mapeo LiDAR y sus derivados. Este trabajo realiza una búsqueda, elección e implementación de alternativas que pueden emplearse para generar reconstrucciones tridimensionales basadas únicamente en sensores LiDAR 3D haciendo uso del sensor principal de la plataforma de escaneo PilotScan conocido como LiDAR Quanergy M8. Cada alternativa se compara para conocer cual es la efectividad en la estimación de la trayectoria y la generación de un mapa tridimensional del entorno expuesto utilizando el conjunto de datos de odometría de KITTI. Finalmente, cada alternativa es validada con datos recolectados en algunos escenarios por la plataforma de escaneo PilotScan.
publishDate 2021
dc.date.issued.none.fl_str_mv 2021
dc.date.accessioned.none.fl_str_mv 2025-04-08T20:32:49Z
dc.date.available.none.fl_str_mv 2025-04-08T20:32:49Z
dc.type.none.fl_str_mv Trabajo de grado - Pregrado
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dc.type.content.none.fl_str_mv Text
dc.type.driver.none.fl_str_mv info:eu-repo/semantics/bachelorThesis
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dc.identifier.citation.none.fl_str_mv Rubio Aguiar, C. F.(2021).Localización y mapeo simultáneo con LIDAR para plataformas robóticas.[Trabajo de grado, Universidad de Ibagué]. https://hdl.handle.net/20.500.12313/4994
dc.identifier.uri.none.fl_str_mv https://hdl.handle.net/20.500.12313/4994
identifier_str_mv Rubio Aguiar, C. F.(2021).Localización y mapeo simultáneo con LIDAR para plataformas robóticas.[Trabajo de grado, Universidad de Ibagué]. https://hdl.handle.net/20.500.12313/4994
url https://hdl.handle.net/20.500.12313/4994
dc.language.iso.none.fl_str_mv spa
language spa
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spelling Murcia Moreno, Harold Fabian5b133e19-d824-4bf2-b8b1-482bfcd7d5b3-1Rubio Aguiar, Cristian Felipe1ea22ec0-8333-429d-ad35-0d6e0d605313-12025-04-08T20:32:49Z2025-04-08T20:32:49Z2021Los sistemas LIDAR de detección de luz y rango a bordo de las plataformas móviles están en rápido avance para las aplicaciones de mapeo en tiempo real. Los escáneres láser 3D modernos tienen una alta velocidad de datos que, junto con la complejidad de sus métodos de procesamiento, hace que la localización y mapeo en línea simultáneos (SLAM) sea un desafío computacional. En los últimos años han surgido diferentes algoritmos 3D LiDAR SLAM, entre los que destaca la Odometría y Mapeo LiDAR y sus derivados. Este trabajo realiza una búsqueda, elección e implementación de alternativas que pueden emplearse para generar reconstrucciones tridimensionales basadas únicamente en sensores LiDAR 3D haciendo uso del sensor principal de la plataforma de escaneo PilotScan conocido como LiDAR Quanergy M8. Cada alternativa se compara para conocer cual es la efectividad en la estimación de la trayectoria y la generación de un mapa tridimensional del entorno expuesto utilizando el conjunto de datos de odometría de KITTI. Finalmente, cada alternativa es validada con datos recolectados en algunos escenarios por la plataforma de escaneo PilotScan.Light detection and ranging LIDAR systems on-board mobile platforms are in rapid advance- ment for real-time mapping applications. Modern 3D laser scanners have a high data rate which, coupled with the complexity of their processing methods, makes simultaneous online localisation and mapping (SLAM) a computational challenge. Different 3D LiDAR SLAM algorithms have emerged in recent years, most notably LiDAR Odometry and Mapping and its derivatives. This work performs a search, choice and implementation of alternatives that can be used to generate three-dimensional reconstructions based solely on 3D LiDAR sensors making use of the main sensor of the PilotScan scanning platform known as LiDAR Quanergy M8. Each alternative is compared for to know what is the effectiveness in the estimation of the trajectory and the generation of a three-dimensional map of the exposed environment using the KITTI odometry dataset. Finally, each alternative is validated with data collected in some scenarios by the PilotScan scanning platform.PregradoIngeniero ElectrónicoIntroducción.....viii 1 Localización y Mapeo con Plataformas Robóticas.....1 1.1 Marco Teórico.....1 1.1.1 Generación de modelos 3D.....1 1.1.1.1 LiDAR (Light Detection And Ranging).....1 1.1.1.2 Nubes de puntos (Point Cloud).....4 1.1.2 SLAM (Simultaneous Localization And Mapping).....6 1.1.2.1 El problema SLAM.....6 1.1.2.2 Visual-SLAM | LiDAR-SLAM.....10 1.1.2.3 LOAM (Lidar Odometry and Mapping in Real-time).....12 1.2 Trabajo Relacionado.....17 1.3 Descripción del Problema y Justificación.....20 1.4 Objetivos.....21 1.4.1 Objetivo General.....21 1.4.2 Objetivos Específicos.....21 2 Materiales y Métodos.....22 2.1 Materiales.....22 2.2 Metodología.....26 3 Resultados.....35 3.1 Alternativas de solución.....35 3.2 Resultados de simulación.....37 3.3 Resultados de validación.....55 4 Conclusiones y Recomendaciones.....57 4.1 Conclusiones.....57 4.2 Recomendaciones.....59 4.3 Aportes.....60 A1 Anexos.....6678 páginasapplication/pdfRubio Aguiar, C. F.(2021).Localización y mapeo simultáneo con LIDAR para plataformas robóticas.[Trabajo de grado, Universidad de Ibagué]. https://hdl.handle.net/20.500.12313/4994https://hdl.handle.net/20.500.12313/4994spaUniversidad de IbaguéIngenieríaIbaguéIngeniería ElectrónicaVelodyne, “Velodyne LiDAR.” [Online]. Available: https://velodynelidar.com/Ouster, “Ouster Sensor.” [Online]. Available: https://ouster.com/Quanergy, “M8 LiDAR Sensor,” pp. –. [Online]. Available: https://quanergy.com/R. B. Rusu and S. Cousins, “3D is here: Point Cloud Library (PCL),” in Proceedings - IEEE International Conference on Robotics and Automation, 2011.T. D. Barfoot, State estimation for robotics, 2017.J. J. Leonard and H. F. Durrant-Whyte, “Mobile Robot Localization by Tracking Geo- metric Beacons,” IEEE Transactions on Robotics and Automation, vol. 7, no. 3, 1991.R. C. Smith and P. 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Horn, “Closed-form solution of absolute orientation using unit quaternions,” Journal of the Optical Society of America A, vol. 4, no. 4, 1987.info:eu-repo/semantics/openAccesshttp://purl.org/coar/access_right/c_abf2Atribución-NoComercial 4.0 Internacional (CC BY-NC 4.0)https://creativecommons.org/licenses/by-nc/4.0/LIDAR - Mapeo simultáneoLocalización simultáneo con LIDARPlataformas robóticasSLAMLiDARNubes de puntosOdometríaLOAMKITTISLAMLiDARPoint CloudsPoint CloudsOdometryLOAMKITTILocalización y mapeo simultáneo con LIDAR para plataformas robóticasTrabajo de grado - Pregradohttp://purl.org/coar/resource_type/c_7a1fTextinfo:eu-repo/semantics/bachelorThesishttp://purl.org/redcol/resource_type/TPinfo:eu-repo/semantics/acceptedVersionPublicationORIGINALTrabajo de grado.pdfTrabajo de grado.pdfapplication/pdf36324783https://repositorio.unibague.edu.co/bitstreams/3cd6ea19-3ee5-4a76-8cb9-103c9de33acb/download8e16a8dfb89fd621efa983fa906d5297MD51Anexos.zipAnexos.zipapplication/octet-stream2317685https://repositorio.unibague.edu.co/bitstreams/b412e557-38b1-4b2c-a7f6-0b67db0f7274/download82c2c366b9ae89905db4617d14084c7fMD52Formato de autorización.pdfFormato de autorización.pdfapplication/pdf195829https://repositorio.unibague.edu.co/bitstreams/06f5d80f-314e-462e-a08c-81116599f96d/download6230d901ea00220ff830885cedb680e2MD53LICENSElicense.txtlicense.txttext/plain; charset=utf-8134https://repositorio.unibague.edu.co/bitstreams/419a0004-fa95-48e7-a20c-26a3479de7d8/download2fa3e590786b9c0f3ceba1b9656b7ac3MD54TEXTTrabajo de grado.pdf.txtTrabajo de grado.pdf.txtExtracted texttext/plain101673https://repositorio.unibague.edu.co/bitstreams/13eb582e-f98b-4678-b5be-79bf7ad0b8cc/download3f3c559415b68e66be3359e88ed55eb1MD59Formato de autorización.pdf.txtFormato de autorización.pdf.txtExtracted texttext/plain3647https://repositorio.unibague.edu.co/bitstreams/9c35245e-9539-4677-987d-071eb9c06680/downloadf575efce65d2a99733664d2c869400efMD511THUMBNAILTrabajo de grado.pdf.jpgTrabajo de grado.pdf.jpgIM Thumbnailimage/jpeg10665https://repositorio.unibague.edu.co/bitstreams/fd8e72cb-6be1-48f8-a9c2-030e4d857f40/download715242e81c357ed5f7f461a8378336bfMD510Formato de autorización.pdf.jpgFormato de autorización.pdf.jpgIM Thumbnailimage/jpeg25887https://repositorio.unibague.edu.co/bitstreams/4acad619-7709-47ee-848a-a7ad2e9635e6/download736df9759bd344ae3a40485b09186199MD51220.500.12313/4994oai:repositorio.unibague.edu.co:20.500.12313/49942025-08-13 01:14:43.586https://creativecommons.org/licenses/by-nc/4.0/https://repositorio.unibague.edu.coRepositorio Institucional Universidad de Ibaguébdigital@metabiblioteca.comQ3JlYXRpdmUgQ29tbW9ucyBBdHRyaWJ1dGlvbi1Ob25Db21tZXJjaWFsLU5vRGVyaXZhdGl2ZXMgNC4wIEludGVybmF0aW9uYWwgTGljZW5zZQ0KaHR0cHM6Ly9jcmVhdGl2ZWNvbW1vbnMub3JnL2xpY2Vuc2VzL2J5LW5jLW5kLzQuMC8=

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