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Pruttapon Maolanon. Development of a single shot in-house SLAM based maps construction using household objects and furnitures information from CNNs detector via multi-camera and mobile robot. Master's Degree(Information and Communication Technology for Embedded System). Kasetsart University. Office of the University Library. : Kasetsart University, 2019.
Development of a single shot in-house SLAM based maps construction using household objects and furnitures information from CNNs detector via multi-camera and mobile robot
Name: Pruttapon Maolanon
Classification :.LCCS: TJ211.415
LCSH:
Mobile robots
LCSH:
Robots
-- Control systems
LCSH:
Mappings (Mathematics)
Abstract:
In order to make autonomous home service robots are able to navigate through the environment, it requires a surrounding map and it location. The Simultaneous Localization And Mapping or SLAM is the method that gathers information from an interested unknown environment, and creates a map and also predicts robot position at the same time. SLAM map is not enough for robot builder companies to sell their service robot because the robots cannot recognize the room in house without complex setup from the experts. The robot cannot be opened from the box and ready to be used. In this research, one method to overcome this issue is proposed by enhancing SLAM algorithm with furniture and household object detection CNN network in order to increase robot ability. Robot will create maps by using a Laser Scan Matcher based on visual SLAM using 3D Orbbec camera. YOLO v3 tiny network is selected as the CNN detector for localize and classify household objects and furnitures in a house. Furnitures and objects images are used to train the CNN networks separately in desktop PC and are installed into the robot after training is finished. CNN detector is combined with SLAM algorithm via ROS. Now, SLAM map can be generated and room can be detected simultaneously in the unknown environment automatically. Finally, experiment is conducted to test the proposed method.
Kasetsart University. Office of the University Library
Address:
Bangkok
Email:
tdckulib@ku.ac.th
Name: Kanjanapan Sukvichai
Role:
Thesis Advisor
Name: Nattapon Chayopitak
Role:
Thesis CO-Advisor
Name: Atsushi Takahashi
Role:
Thesis CO-Advisor
Created:
2019
Modified:
2025-07-04
Issued:
2025-07-04
วิทยานิพนธ์/Thesis
application/pdf
URL: https://www.lib.ku.ac.th/KUthesis/2562/pruttapon-mao-all.pdf
CallNumber:
TJ211.415 .P78
eng
DegreeName: Master of Engineering
Level: Master's Degree
Grantor: Kasetsart University
©copyrights Kasetsart University
RightsAccess:
ใช้เวลา
0.021967 วินาที
Pruttapon Maolanon
| Title | Contributor | Type |
|---|---|---|
| Development of a single shot in-house SLAM based maps construction using household objects and furnitures information from CNNs detector via multi-camera and mobile robot
มหาวิทยาลัยเกษตรศาสตร์ Pruttapon Maolanon | Kanjanapan Sukvichai | วิทยานิพนธ์/Thesis |
Kanjanapan Sukvichai
Nattapon Chayopitak
| Title | Creator | Type and Date Create |
|---|---|---|
| An adaptive controller of robotic manipulators for repetitive task in hard-disk application
มหาวิทยาลัยเกษตรศาสตร์ Peerayot Sanposh;Nattapon Chayopitak | Pannatee Rakprayoon | วิทยานิพนธ์/Thesis |
Atsushi Takahashi
| Title | Creator | Type and Date Create |
|---|