3D SLAM methods and processing of 3D data sets to create a map of vineyard suitable for mobile manipulator navigation

Unutar rada proučeno je trenutno stanje tehnike u području rekonstrukcije i mapiranja prostora 3D lidarom. Implementirana je izgradnja karte prostora kroz algoritme Lio-Sam i Cartographer nad podatcima prikupljenim unutar vinograda Jazbina. Podatci su prikupljeni robotskim sustavom uz pomoć 3D lidara te IMU senzora. Izgrađene karte prostora pohranjene su u obliku oblaka točaka, koji je pogodan za primjenu navigacije robota.Within the paper, the current state of the art in the field of reconstruction and mapping of space with 3D lidar was studied. The construction of a space map was implemented through the Lio-Sam and Cartographer algorithms over data collected within the Jazbina vineyard. Data were collected by a robotic system with the help of 3D lidar and IMU sensor. Built space maps are stored in the form of point cloud, which is suitable for robot navigation applications