Picking the raisins out of the cookie LiDAR based odometry in dynamic urban environments

dc.contributor.authorÅberg, Andreas
dc.contributor.departmentChalmers tekniska högskola / Institutionen för elektrotekniksv
dc.contributor.examinerHammarstrand, Lars
dc.contributor.supervisorHammarstrand, Lars
dc.contributor.supervisorLozano Calvo, Ernesto
dc.date.accessioned2025-07-04T13:54:47Z
dc.date.issued2025
dc.date.submitted
dc.description.abstractReliable localization using LiDAR on pedestrian-scale delivery robots in urban environments poses distinctive challenges. Methods proven on larger vehicles with high-end sensors do not necessarily translate to compact platforms with simpler payloads. This thesis focuses on evaluating some state-of-the-art LiDAR odometry approaches on a small delivery robot equipped with a LiDAR and other sensors such as an IMU. By comparing trajectory accuracy, resilience to real-world motion profiles, and multiple sensor configurations, insight is provided into which techniques can serve as a reliable baseline and what additional capabilities are required to achieve practical localization on often more resource-constrained robots. Building on this foundation, we explore targeted enhancements driven by real-world observations. We implement a real-time simple dynamic-object filtering approach that operates in parallel with odometry, based on a range images, where moving objects are subsequently identified and excised to maintain a static map. To further mitigate drift over extended runs, we integrate loop-closure adjustments, detecting and aligning previously visited areas to correct accumulated drift over larger distances. Together, these refinements demonstrate how a robust baseline can be augmented to meet the demands of odometry and mapping of a small delivery robot.
dc.identifier.coursecodeEENX30
dc.identifier.urihttp://hdl.handle.net/20.500.12380/309993
dc.language.isoeng
dc.setspec.uppsokTechnology
dc.subjectLiDAR Odometry
dc.subjectUrban Localization
dc.subjectDynamic Object Removal
dc.subjectSLAM
dc.titlePicking the raisins out of the cookie LiDAR based odometry in dynamic urban environments
dc.type.degreeExamensarbete för masterexamensv
dc.type.degreeMaster's Thesisen
dc.type.uppsokH
local.programmeSystems, control and mechatronics (MPSYS), MSc

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