Mobile robot perception system in ROS 2 on embedded computing platform

Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F00216305%3A26220%2F24%3APU151576" target="_blank" >RIV/00216305:26220/24:PU151576 - isvavai.cz</a>
Result on the web
<a href="https://www.sciencedirect.com/science/article/pii/S2405896324005032" target="_blank" >https://www.sciencedirect.com/science/article/pii/S2405896324005032</a>
DOI - Digital Object Identifier
<a href="http://dx.doi.org/10.1016/j.ifacol.2024.07.414" target="_blank" >10.1016/j.ifacol.2024.07.414</a>

Result language
angličtina
Original language name
Mobile robot perception system in ROS 2 on embedded computing platform
Original language description
In this paper a perception system of a mobile robot is proposed and implemented combining a LiDAR sensor with a colour camera. Localisation of unknown objects in an a priori known environment and their classification is required in order for the robot to safety and reliably navigate the working area. To this end, a pipeline is proposed to process and fuse the LiDAR 3D point-cloud data with a monocular colour camera image classifications yielding precisely localised 3D detections with class designations. The proposed pipeline is designed to run on limited computational power embedded platforms in the ROS 2 environment, and has been tested on a robotic testbench.
Czech name
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Czech description
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Publication year
2024
Confidentiality
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Article name in the collection
18th IFAC Conference on Programmable Devices and Embedded Systems – PDeS 2024.
ISBN
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ISSN
2405-8963
e-ISSN
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Number of pages
6
Pages from-to
305-310
Publisher name
Elsevier
Place of publication
neuveden
Event location
Brno
Event date
Jun 19, 2024
Type of event by nationality
WRD - Celosvětová akce
UT code for WoS article
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