1. Autonomous Localization & Navigation using 2D Laser Scanners Animesh Garg & Manohar Paluri

2. 22 Outline Problem Description Motivation Previous research Proposed solution Details of our approach Testing Results Conclusion

3. 33 Why an autonomous painting system is required?

4. 44 Introduction During spray painting process, the environment has a very large concentration of paint particles decreasing visibility. And the paint settles on surfaces, it rules out markers based solution. The Omnimove is a huge platform for moving very heavy weights around. Herein it would hold the robotic arm which will be used to carry out the painting job.

5. 55 Potential Solutions Cameras GPS INS Sonar Laser Northstar And more..

6. 66 Our solution Laser Scanners Sample Mount

7. 77 Past Work

8. 88 Block Diagram

9. 99 Rigid Transformation Scan1Scan2 Combined Scan

10. 10 Hough Transform

11. 11 Non-Uniform Density

12. 12 Weighted Hough Transform

13. 13 Find Maximas

14. 14 Total Least Squares

15. 15 Line Fitting

16. 16 Localization

17. 17 Obstacle Map

18. 18 Obstacle Detection

19. 19 Planning - RRT

20. 20 Navigation

21. 21 Future Scope

22. 22 Thank You