Low Cost Backpack Scanning and Mapping System for Indoor Environments

Jafri, Syed Riaz un Nabi; Shamim, Sheraz; Yasir, Syed Muhammad; Ahmed, Saad Bin; Siddiqui, Muhammad Owais Ali; Basit, Abdul

doi:10.1109/icrai54018.2021.9651437

Cited by 2 publications

(1 citation statement)

References 8 publications

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“…The environments were mapped by fixing a Hokuyo laser range finder on top of the base frame of the robot, and robot movement was initiated with the help of the turtlebot_teleop ROS package, which brings up key bindings for moving the robot for map creation. The laser creates scans of its surrounding objects and passes these scans into the Rviz visualizer [28]. The mapping technique here is G mapping which utilizes Rao-Blackwellized particle filters for learning grid maps [29].…”

Section: Robot Control and Simulation Studymentioning

confidence: 99%

Conceptual design and simulation study of an autonomous indoor medical waste collection robot

Shaju

George

Francis

et al. 2023

IJRA

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Solid waste management is one of the critical challenges seen everywhere, and the coronavirus disease (COVID-19) pandemic has only worsened the problems in the safe disposal of infectious waste. This paper outlines a design for a mobile robot that will intelligently identify, grasp, and collect a group of medical waste items using a six-degree of freedom (DoF) arm, You Only Look Once (YOLO) neural network, and a grasping algorithm. Various designs are generated before running simulations on the selected virtual model using Robot Operating System (ROS) and Gazebo simulator. A lidar sensor is also used to map the robot's surroundings and navigate autonomously. The robot has good scope for waste collection in medical facilities, where it can help create a safer environment.

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Section: Robot Control and Simulation Studymentioning

confidence: 99%