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Viability and performance of indoor mapping using the Velodyne VLP-16 LiDAR

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TitleInfo
Title
Viability and performance of indoor mapping using the Velodyne VLP-16 LiDAR
Name (type = personal)
NamePart (type = family)
Paleja
NamePart (type = given)
Rohan R.
NamePart (type = date)
1996-
DisplayForm
Rohan R. Paleja
Role
RoleTerm (authority = RULIB)
author
Name (type = personal)
NamePart (type = family)
Diez-Garias
NamePart (type = given)
F. Javier
DisplayForm
F. Javier Diez-Garias
Affiliation
Advisory Committee
Role
RoleTerm (authority = RULIB)
chair
Name (type = corporate)
NamePart
Rutgers University
Role
RoleTerm (authority = RULIB)
degree grantor
Name (type = corporate)
NamePart
School of Graduate Studies
Role
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school
TypeOfResource
Text
Genre (authority = marcgt)
theses
OriginInfo
DateCreated (qualifier = exact)
2018
DateOther (qualifier = exact); (type = degree)
2018-10
CopyrightDate (encoding = w3cdtf)
2018
Place
PlaceTerm (type = code)
xx
Language
LanguageTerm (authority = ISO639-2b); (type = code)
eng
Abstract (type = abstract)
There is a growing demand for performing high precision tasks in indoor environments. Using a LiDAR to map the environment alongside a SLAM algorithm called LOAM, developed by Dr. Zhang from CMU, environments can be mapped with low computational complexity. The use of this algorithm and sensor is tested in indoor environments to assess the performance and viability of indoor mapping with the Velodyne VLP-16 LiDAR. The experiment is tailored so that it mimics certain behaviors of a mobile robot in the hopes that the conclusion of this experiment can be generalized to mobile robots. Results of this experiment produced highly accurate clouds that were replicas to the real-world environment with an accuracy as high as 99.71%. Large indoor environments were also mapped (above 100 meters in length) with drift less than 1 meter in the best scenario. These results verify that accurate point cloud generation in indoor environments is viable and can be useful for mobile robots.
Subject (authority = RUETD)
Topic
Mechanical and Aerospace Engineering
Subject (authority = LCSH)
Topic
Digital mapping
RelatedItem (type = host)
TitleInfo
Title
Rutgers University Electronic Theses and Dissertations
Identifier (type = RULIB)
ETD
Identifier
ETD_9125
PhysicalDescription
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electronic resource
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application/pdf
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text/xml
Extent
1 online resource (71 pages : illustrations)
Note (type = degree)
M.S.
Note (type = bibliography)
Includes bibliographical references
Note (type = statement of responsibility)
by Rohan R. Paleja
RelatedItem (type = host)
TitleInfo
Title
School of Graduate Studies Electronic Theses and Dissertations
Identifier (type = local)
rucore10001600001
Location
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NjNbRU
Identifier (type = doi)
doi:10.7282/t3-d5hx-9q29
Genre (authority = ExL-Esploro)
ETD graduate
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Rights

RightsDeclaration (ID = rulibRdec0006)
The author owns the copyright to this work.
RightsHolder (type = personal)
Name
FamilyName
Paleja
GivenName
Rohan R.
Role
Copyright Holder
RightsEvent
Type
Permission or license
DateTime (encoding = w3cdtf); (qualifier = exact); (point = start)
2018-08-02 01:39:17
AssociatedEntity
Name
Rohan Paleja
Role
Copyright holder
Affiliation
Rutgers University. School of Graduate Studies
AssociatedObject
Type
License
Name
Author Agreement License
Detail
I hereby grant to the Rutgers University Libraries and to my school the non-exclusive right to archive, reproduce and distribute my thesis or dissertation, in whole or in part, and/or my abstract, in whole or in part, in and from an electronic format, subject to the release date subsequently stipulated in this submittal form and approved by my school. I represent and stipulate that the thesis or dissertation and its abstract are my original work, that they do not infringe or violate any rights of others, and that I make these grants as the sole owner of the rights to my thesis or dissertation and its abstract. I represent that I have obtained written permissions, when necessary, from the owner(s) of each third party copyrighted matter to be included in my thesis or dissertation and will supply copies of such upon request by my school. I acknowledge that RU ETD and my school will not distribute my thesis or dissertation or its abstract if, in their reasonable judgment, they believe all such rights have not been secured. I acknowledge that I retain ownership rights to the copyright of my work. I also retain the right to use all or part of this thesis or dissertation in future works, such as articles or books.
Copyright
Status
Copyright protected
Availability
Status
Open
Reason
Permission or license
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Technical

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ETD
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windows xp
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1.5
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2018-08-21T14:49:28
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2018-08-21T14:49:28
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pdfTeX-1.40.18
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