The aim of the project was to do modifications to Nanosaur by Raffaello Bonghi. We designed a custom Printed Circuit Board to mount the three gas sensors on Jetson Nano. We also designed a 3D-printed camera housing to mount a binocular camera with an integrated IMU. On the software front, we deployed ORBSLAM-2 on the hardware to do Visual-SLAM.
The high level idea was to use the data from gas sensors and localization from VSLAM to find locations with a higher gas concentration, which corresponds to regions close to the leakage.
Please find details in our report.
We were awarded the Best Project Award for our work, and it was featured on Wadhwani Electronics Laboratory's YouTube Channel!
Authors: Tanmay Dokania, Navneet, Aziz Shameem