Pub Date : 2018-03-06DOI: 10.1109/ICOIACT.2018.8350725
Dike Bayu Magfira, R. Sarno
The ability of nose as the sense of smell, causing high sensitivity to the aroma of coffee. The electronic nose can be applied to recognize the aroma of coffee as an objective measure of coffee gas. The detection of Arabica and Robusta coffee was diluted for 20 minutes and resulted in 288 gas data. From the data displayed on the Arduino produces different signal values. From the results of sensor data displayed on the Arduino will be made aroma classification based signal data. Classification of Arabica coffee aroma and Robusta coffee aroma is done with Support Vector Machine (SVM) and Perceptron method. Accuracy results obtained with the SVM method is 71% and Perceptron 57%. Based on the accuracy value obtained, SVM method can recognize Arabica Coffee and Robusta with better results.
{"title":"Classification of Arabica and Robusta coffee using electronic nose","authors":"Dike Bayu Magfira, R. Sarno","doi":"10.1109/ICOIACT.2018.8350725","DOIUrl":"https://doi.org/10.1109/ICOIACT.2018.8350725","url":null,"abstract":"The ability of nose as the sense of smell, causing high sensitivity to the aroma of coffee. The electronic nose can be applied to recognize the aroma of coffee as an objective measure of coffee gas. The detection of Arabica and Robusta coffee was diluted for 20 minutes and resulted in 288 gas data. From the data displayed on the Arduino produces different signal values. From the results of sensor data displayed on the Arduino will be made aroma classification based signal data. Classification of Arabica coffee aroma and Robusta coffee aroma is done with Support Vector Machine (SVM) and Perceptron method. Accuracy results obtained with the SVM method is 71% and Perceptron 57%. Based on the accuracy value obtained, SVM method can recognize Arabica Coffee and Robusta with better results.","PeriodicalId":6660,"journal":{"name":"2018 International Conference on Information and Communications Technology (ICOIACT)","volume":"15 1","pages":"645-650"},"PeriodicalIF":0.0,"publicationDate":"2018-03-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"74353639","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2018-03-06DOI: 10.1109/ICOIACT.2018.8350679
D. S. Lestari, M. Pujiantara, M. Purnomo, D. Rahmatullah
The addition of Distributed Generation (DG) to the power system provides some of the impact of changes on the distribution network. With the addition of DG, it is important to ensure a fast and reliable protection system to avoid accidental disconnection of DG when there is disruption to the distribution network. Another impact of the addition of DG is that protection on the system needs to be coordinated again. In this research, it is proposed coordination of protection which is adaptive and optimal used Firefly Algorithm (FA) and Artificial Neural Network (ANN) to obtain optimal coordination. This study is tested on a modified IEEE 9 bus loop system with the addition of DG. Because the direction of current flowing from different directions so that required coordination of directional over current relay protection (DOCR). Optimization is tested in four different combinations of conditions. Optimization using firefly algorithm will get the value of Time Dial Setting (TDS), Pickup Current (IP) and total of the fastest operation time. Backpropagation algorithm used in ANN training process. The training process uses the input of ISC max taken based on the combination of generation, the fault location, and the type of fault. The TDS and IP values of FA optimization results are used as ANN training targets. After testing, the results obtained in accordance with the target data. The results of both method have been proved by the ETAP simulation which shows that the FA-ANN is a suitable method to model the adaptive and optimal relay coordination system.
{"title":"Adaptive DOCR coordination in loop distribution system with distributed generation using firefly algorithm-artificial neural network","authors":"D. S. Lestari, M. Pujiantara, M. Purnomo, D. Rahmatullah","doi":"10.1109/ICOIACT.2018.8350679","DOIUrl":"https://doi.org/10.1109/ICOIACT.2018.8350679","url":null,"abstract":"The addition of Distributed Generation (DG) to the power system provides some of the impact of changes on the distribution network. With the addition of DG, it is important to ensure a fast and reliable protection system to avoid accidental disconnection of DG when there is disruption to the distribution network. Another impact of the addition of DG is that protection on the system needs to be coordinated again. In this research, it is proposed coordination of protection which is adaptive and optimal used Firefly Algorithm (FA) and Artificial Neural Network (ANN) to obtain optimal coordination. This study is tested on a modified IEEE 9 bus loop system with the addition of DG. Because the direction of current flowing from different directions so that required coordination of directional over current relay protection (DOCR). Optimization is tested in four different combinations of conditions. Optimization using firefly algorithm will get the value of Time Dial Setting (TDS), Pickup Current (IP) and total of the fastest operation time. Backpropagation algorithm used in ANN training process. The training process uses the input of ISC max taken based on the combination of generation, the fault location, and the type of fault. The TDS and IP values of FA optimization results are used as ANN training targets. After testing, the results obtained in accordance with the target data. The results of both method have been proved by the ETAP simulation which shows that the FA-ANN is a suitable method to model the adaptive and optimal relay coordination system.","PeriodicalId":6660,"journal":{"name":"2018 International Conference on Information and Communications Technology (ICOIACT)","volume":"6 1","pages":"579-584"},"PeriodicalIF":0.0,"publicationDate":"2018-03-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"82543624","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2018-03-06DOI: 10.1109/ICOIACT.2018.8350772
S. Panic, H. Milosevic, Selena Vasić, V. Milenkovic
In this paper temporal behavior of the free-space optics (FSO) channel capacity under the influence of Rician turbulence is considered. Expressions for the Cumulative Distribution Function (CDF), Probability Density Function (PDF), and the Level Crossing Rate (LCR) of the transmitted FSO signal exposed to Rician turbulence are derived, and numerical results graphically presented.
{"title":"Dynamical characteristics of the FSO transmission capacity in the presence of Rician turbulence","authors":"S. Panic, H. Milosevic, Selena Vasić, V. Milenkovic","doi":"10.1109/ICOIACT.2018.8350772","DOIUrl":"https://doi.org/10.1109/ICOIACT.2018.8350772","url":null,"abstract":"In this paper temporal behavior of the free-space optics (FSO) channel capacity under the influence of Rician turbulence is considered. Expressions for the Cumulative Distribution Function (CDF), Probability Density Function (PDF), and the Level Crossing Rate (LCR) of the transmitted FSO signal exposed to Rician turbulence are derived, and numerical results graphically presented.","PeriodicalId":6660,"journal":{"name":"2018 International Conference on Information and Communications Technology (ICOIACT)","volume":"15 3-4 1","pages":"769-772"},"PeriodicalIF":0.0,"publicationDate":"2018-03-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"75311644","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2018-03-06DOI: 10.1109/ICOIACT.2018.8350752
Diah Yuniarti
HAPs may act as floating base stations which deliver broadband communications from 20–50 km above the ground, positioned between satellite and terrestrial platforms. Since 2012, new HAPs projects have been launched, marking the resurgence of the technology. This paper aims to address challenges by existing regulations related to HAPs operation. It shows that existing global HAPs identification could not meet HAPs broadband market requirements. Since HAPs platform resides within national sovereignty, HAPs operation shall be strictly regulated by first, reclassify a HAPs-based-unmanned free balloon as UAV. Second, by adopting existing UAV regulations related to privacy and safety aspects with additional weight and altitude criteria. Furthermore, the new rules shall impose security clauses.
{"title":"Regulatory challenges of broadband communication services from High Altitude Platforms (HAPs)","authors":"Diah Yuniarti","doi":"10.1109/ICOIACT.2018.8350752","DOIUrl":"https://doi.org/10.1109/ICOIACT.2018.8350752","url":null,"abstract":"HAPs may act as floating base stations which deliver broadband communications from 20–50 km above the ground, positioned between satellite and terrestrial platforms. Since 2012, new HAPs projects have been launched, marking the resurgence of the technology. This paper aims to address challenges by existing regulations related to HAPs operation. It shows that existing global HAPs identification could not meet HAPs broadband market requirements. Since HAPs platform resides within national sovereignty, HAPs operation shall be strictly regulated by first, reclassify a HAPs-based-unmanned free balloon as UAV. Second, by adopting existing UAV regulations related to privacy and safety aspects with additional weight and altitude criteria. Furthermore, the new rules shall impose security clauses.","PeriodicalId":6660,"journal":{"name":"2018 International Conference on Information and Communications Technology (ICOIACT)","volume":"50 1","pages":"919-922"},"PeriodicalIF":0.0,"publicationDate":"2018-03-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"91133879","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2018-03-06DOI: 10.1109/ICOIACT.2018.8350705
Nur Rani Alham, D. A. Asfani, I. M. Y. Negara, Belly Yan Dewantara
Three-phase induction motor is a motor that has been widely used in large factories in general, in addition to efficient in terms of price, and maintenance. However, some cases, the induction motors are easy to damage, one of which is the occurrence of air gap imbalance. The cause of air gap distance between the rotor and stator is not uniform or synchronize is called eccentricity. To prevent sustained damage, this research is done in order to detect errors or damage early. As a result, the researchers tried in the effect of load and an unbalanced voltage to observe the condition of three phase induction motor with current spectrum or current signature with an air gap eccentricity condition and focused on static eccentricity conditions. The results of this data will be processed by using methods such as Fast Fourier Transform (FFT). For current signature seen at steady state condition, it will be able to tell whether the condition of the motor is normal or not.
{"title":"Analysis of load and unbalance voltage on air gap eccentricity in detection of three phase induction motor","authors":"Nur Rani Alham, D. A. Asfani, I. M. Y. Negara, Belly Yan Dewantara","doi":"10.1109/ICOIACT.2018.8350705","DOIUrl":"https://doi.org/10.1109/ICOIACT.2018.8350705","url":null,"abstract":"Three-phase induction motor is a motor that has been widely used in large factories in general, in addition to efficient in terms of price, and maintenance. However, some cases, the induction motors are easy to damage, one of which is the occurrence of air gap imbalance. The cause of air gap distance between the rotor and stator is not uniform or synchronize is called eccentricity. To prevent sustained damage, this research is done in order to detect errors or damage early. As a result, the researchers tried in the effect of load and an unbalanced voltage to observe the condition of three phase induction motor with current spectrum or current signature with an air gap eccentricity condition and focused on static eccentricity conditions. The results of this data will be processed by using methods such as Fast Fourier Transform (FFT). For current signature seen at steady state condition, it will be able to tell whether the condition of the motor is normal or not.","PeriodicalId":6660,"journal":{"name":"2018 International Conference on Information and Communications Technology (ICOIACT)","volume":"35 1","pages":"566-571"},"PeriodicalIF":0.0,"publicationDate":"2018-03-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"78194895","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2018-03-06DOI: 10.1109/ICOIACT.2018.8350786
Arif Ridho Lubis, F. Fachrizal, M. Lubis, H. M. Tahir
There is an important growth in the application to detect and protect network from the intrusion and unauthorized party as well as create access control among users around the world through this decade. Contextually, the majority of users expected an integrated platform to address the challenges posed by cyber security while also enabling secure access to campus network. Not surprisingly, the large majority of enterprises also have implemented some form of protection mechanism to provide end-to-end security such as firewall, authentication or antivirus, which at some extent it is difficult to design, configure, manage, maintain and monitor. Therefore, many security breaches are occurred because of the misconfiguration resulted the vulnerabilities to be exploited by hackers or caused by compatibility issues between products used in the campus network to reduce budget. Arguably, many security aspects can be strengthen through the improvement of human resource strategy to handle the campus network. This study want to investigate the user perception on security aspect of Wi-Fi performance in Universiti Utara Malaysia to provide some insights on the indicators to be considered by the network administrator.
{"title":"Wireless service at Public University: A survey of users perception on security aspects","authors":"Arif Ridho Lubis, F. Fachrizal, M. Lubis, H. M. Tahir","doi":"10.1109/ICOIACT.2018.8350786","DOIUrl":"https://doi.org/10.1109/ICOIACT.2018.8350786","url":null,"abstract":"There is an important growth in the application to detect and protect network from the intrusion and unauthorized party as well as create access control among users around the world through this decade. Contextually, the majority of users expected an integrated platform to address the challenges posed by cyber security while also enabling secure access to campus network. Not surprisingly, the large majority of enterprises also have implemented some form of protection mechanism to provide end-to-end security such as firewall, authentication or antivirus, which at some extent it is difficult to design, configure, manage, maintain and monitor. Therefore, many security breaches are occurred because of the misconfiguration resulted the vulnerabilities to be exploited by hackers or caused by compatibility issues between products used in the campus network to reduce budget. Arguably, many security aspects can be strengthen through the improvement of human resource strategy to handle the campus network. This study want to investigate the user perception on security aspect of Wi-Fi performance in Universiti Utara Malaysia to provide some insights on the indicators to be considered by the network administrator.","PeriodicalId":6660,"journal":{"name":"2018 International Conference on Information and Communications Technology (ICOIACT)","volume":"9 1","pages":"78-83"},"PeriodicalIF":0.0,"publicationDate":"2018-03-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"81996476","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2018-03-06DOI: 10.1109/ICOIACT.2018.8350666
Hokuto Shinoda, M. Hattori
In this paper, we propose complex-valued support vector machines (CVSVMs) which are a new type of support vector machines (SVMs) based on multi-valued neurons (MVNs). An MVN which is a type of complex-valued neurons is a component of the proposed CVSVM. The features of the proposed CVSVM are: 1) it has a multi-valued complex output; 2) it provides the generalization ability by a decision boundary with the maximal margin; 3) it can deal with non-linear classification by using a kernel function. Experimental results for some famous benchmark problems show the effectiveness of the proposed CVSVM.
{"title":"Complex-valued support vector machines based on multi-valued neurons","authors":"Hokuto Shinoda, M. Hattori","doi":"10.1109/ICOIACT.2018.8350666","DOIUrl":"https://doi.org/10.1109/ICOIACT.2018.8350666","url":null,"abstract":"In this paper, we propose complex-valued support vector machines (CVSVMs) which are a new type of support vector machines (SVMs) based on multi-valued neurons (MVNs). An MVN which is a type of complex-valued neurons is a component of the proposed CVSVM. The features of the proposed CVSVM are: 1) it has a multi-valued complex output; 2) it provides the generalization ability by a decision boundary with the maximal margin; 3) it can deal with non-linear classification by using a kernel function. Experimental results for some famous benchmark problems show the effectiveness of the proposed CVSVM.","PeriodicalId":6660,"journal":{"name":"2018 International Conference on Information and Communications Technology (ICOIACT)","volume":"17 1","pages":"208-213"},"PeriodicalIF":0.0,"publicationDate":"2018-03-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"83715268","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2018-03-06DOI: 10.1109/ICOIACT.2018.8350673
Fera Putrì Ayu Lestari, Evi Septiana Pane, Y. Suprapto, M. Purnomo
One of the major frequency rhythm in EEG signal is called alpha rhythm, that indicate relax condition, calm, and awake without much concentration. In this paper we analyzing alpha rhythm using continuous wavelet transform (CWT) to explore the feature of relax condition. We do some scenario in analyzing alpha rhythm, normalizing and segmenting the data. EEG dataset was provided by DEAP. We sort the relax data (labelled with high valence and low arousal by participants) among all data to be observed. First, EEG data are normalized then filtered using band pass filter to get the specific alpha frequency (8–13Hz). Then, we use CWT to transform the signals into time-frequency domain. Entropy and energy of the coefficient wavelet transform are calculate as feature for clustering. From the result, normalized data gave different values. Besides changes the real magnitude information, it give lower accuracy 51.7% than not normalized data 67.2%. We conclude that normalizing data is not necessary especially on subject independent analysis. In additional, clustering result of all data compared with segmented data aren't gave significant differences. Finally, using CWT for feature extraction gives good enough results (67.2%).
{"title":"Wavelet based-analysis of alpha rhythm on EEG signal","authors":"Fera Putrì Ayu Lestari, Evi Septiana Pane, Y. Suprapto, M. Purnomo","doi":"10.1109/ICOIACT.2018.8350673","DOIUrl":"https://doi.org/10.1109/ICOIACT.2018.8350673","url":null,"abstract":"One of the major frequency rhythm in EEG signal is called alpha rhythm, that indicate relax condition, calm, and awake without much concentration. In this paper we analyzing alpha rhythm using continuous wavelet transform (CWT) to explore the feature of relax condition. We do some scenario in analyzing alpha rhythm, normalizing and segmenting the data. EEG dataset was provided by DEAP. We sort the relax data (labelled with high valence and low arousal by participants) among all data to be observed. First, EEG data are normalized then filtered using band pass filter to get the specific alpha frequency (8–13Hz). Then, we use CWT to transform the signals into time-frequency domain. Entropy and energy of the coefficient wavelet transform are calculate as feature for clustering. From the result, normalized data gave different values. Besides changes the real magnitude information, it give lower accuracy 51.7% than not normalized data 67.2%. We conclude that normalizing data is not necessary especially on subject independent analysis. In additional, clustering result of all data compared with segmented data aren't gave significant differences. Finally, using CWT for feature extraction gives good enough results (67.2%).","PeriodicalId":6660,"journal":{"name":"2018 International Conference on Information and Communications Technology (ICOIACT)","volume":"57 1","pages":"719-723"},"PeriodicalIF":0.0,"publicationDate":"2018-03-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"77257788","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2018-03-06DOI: 10.1109/ICOIACT.2018.8350676
Nurani Lathifah, A. N. Handayani, H. Herwanto, S. Sendari
Inverse kinematics is the context of controlling multiple joints of a robot arm with the method of estimating the joint angles from the given end-effector coordinates. In this paper, different architecture of neural network Backpropagation Levenberg Marquardt was proposed and analyzed to solve inverse kinematics trajectory tracking in a trainer planar three-link manipulator. The result shows the amount of neuron(s) in hidden layer affected to the result of the solution. Improving the performance of the neural network can be addressed in the future work.
{"title":"Solving inverse kinematics trajectory tracking of planar manipulator using neural network","authors":"Nurani Lathifah, A. N. Handayani, H. Herwanto, S. Sendari","doi":"10.1109/ICOIACT.2018.8350676","DOIUrl":"https://doi.org/10.1109/ICOIACT.2018.8350676","url":null,"abstract":"Inverse kinematics is the context of controlling multiple joints of a robot arm with the method of estimating the joint angles from the given end-effector coordinates. In this paper, different architecture of neural network Backpropagation Levenberg Marquardt was proposed and analyzed to solve inverse kinematics trajectory tracking in a trainer planar three-link manipulator. The result shows the amount of neuron(s) in hidden layer affected to the result of the solution. Improving the performance of the neural network can be addressed in the future work.","PeriodicalId":6660,"journal":{"name":"2018 International Conference on Information and Communications Technology (ICOIACT)","volume":"680 1","pages":"483-488"},"PeriodicalIF":0.0,"publicationDate":"2018-03-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"73061576","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2018-03-01DOI: 10.1109/ICOIACT.2018.8350783
A. Dwijotomo, H. Zamzuri, M. Ariff, Mohd Azizi Abdul Rahman, M. Z. Azmi
This paper presents experimental study on exploring Laser Odometry based LOAM for urban area applications. Most Odometry techniques to determine trajectories of vehicle in urban area use GPS, IMU, or Camera as sensing element. These sensors have their own weakness such as GPS prone to signal lost; IMU suffers from high drift error; and camera dependency to lighting conditions. Meanwhile, LOAM uses 3D LiDAR sensor and possess several advantages such as robust Odometry calculations and more resilient to lighting condition. LOAM was formulated using feature based detection to recognize feature point from edge line and planar surface inside the environment. These features are then used as reference points. The vehicle's position was estimated using dead reckoning method by comparing surrounding reference points with previously determined position. Performance evaluations are performed by comparing the recorded vehicle trajectory data against Google Cartographer which have centimetres accuracy. The result show that the approached strategy has comparable performance with Cartographer in urban area environment. It can achieve drift error between 0.6 and 10.0 metres during short distance travel (< 1.5 Km).
{"title":"Study on odometry sensor alternative using 3D LiDAR for urban area application","authors":"A. Dwijotomo, H. Zamzuri, M. Ariff, Mohd Azizi Abdul Rahman, M. Z. Azmi","doi":"10.1109/ICOIACT.2018.8350783","DOIUrl":"https://doi.org/10.1109/ICOIACT.2018.8350783","url":null,"abstract":"This paper presents experimental study on exploring Laser Odometry based LOAM for urban area applications. Most Odometry techniques to determine trajectories of vehicle in urban area use GPS, IMU, or Camera as sensing element. These sensors have their own weakness such as GPS prone to signal lost; IMU suffers from high drift error; and camera dependency to lighting conditions. Meanwhile, LOAM uses 3D LiDAR sensor and possess several advantages such as robust Odometry calculations and more resilient to lighting condition. LOAM was formulated using feature based detection to recognize feature point from edge line and planar surface inside the environment. These features are then used as reference points. The vehicle's position was estimated using dead reckoning method by comparing surrounding reference points with previously determined position. Performance evaluations are performed by comparing the recorded vehicle trajectory data against Google Cartographer which have centimetres accuracy. The result show that the approached strategy has comparable performance with Cartographer in urban area environment. It can achieve drift error between 0.6 and 10.0 metres during short distance travel (< 1.5 Km).","PeriodicalId":6660,"journal":{"name":"2018 International Conference on Information and Communications Technology (ICOIACT)","volume":"50 1","pages":"102-107"},"PeriodicalIF":0.0,"publicationDate":"2018-03-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"73565422","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
京公网安备 11010802042870号
京ICP备2023020795号-1
扫码关注我们
求助内容：
应助结果提醒方式：