Hazardous Gas Detection using Nanosaur with VSLAM
A ROS2 robot that maps its environment with VSLAM while detecting hazardous gases.
Advisor: Prof. Siddharth Tallur, IIT Bombay · Jan 2023 – Apr 2023 · Best Project Award
An add-on sensing and mapping system for the Nanosaur robot built on an NVIDIA Jetson Nano.
- Designed an add-on circuit to detect NH₃, CO₂, CO, CH₄, and other gases.
- Implemented ORB-SLAM2 VSLAM with a stereo camera and integrated it into the robot using ROS2.
- Enabled remote Wi-Fi control and a server-based dashboard showing gas levels and a 3D map of the environment.