System for detection and classification of obstacles through data-fusion of lidar and RGB cameras (ASGARD-CLASS)
The result's identifiers
Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F00216305%3A26620%2F22%3APR36461" target="_blank" >RIV/00216305:26620/22:PR36461 - isvavai.cz</a>
Result on the web
<a href="https://ai4csm.ceitec.cz/vysledky" target="_blank" >https://ai4csm.ceitec.cz/vysledky</a>
DOI - Digital Object Identifier
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Alternative languages
Result language
angličtina
Original language name
System for detection and classification of obstacles through data-fusion of lidar and RGB cameras (ASGARD-CLASS)
Original language description
The ASGARD-CLASS software system is designed for obstacle detection in lidar data in a point-cloud format, followed by classification of the obstacle type into several classes. The system will find use in mobile robotics, where the data created by this program can serve as a simplified and easily searchable map of the robot's surroundings. It enables obstacle detection, floor filtering and filtering of solid parts of the environment (e.g. walls) using advanced AI-based segmentation techniques. The classification of the obstacles detected in this way is then performed on a data fusion of lidar data and data from RGB cameras, which are annotated using a neural network based on a pre-trained YOLO network, which was further trained on its own dataset from an industrial environment. The system is compatible with the ASGARD-NAV navigation, planning and mapping tool, which can use information about the obstacle class for better trajectory planning.
Czech name
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Czech description
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Classification
Type
R - Software
CEP classification
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OECD FORD branch
20201 - Electrical and electronic engineering
Result continuities
Project
<a href="/en/project/8A21013" target="_blank" >8A21013: Automotive Intelligence for Connected Shared Mobility</a><br>
Continuities
P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)
Others
Publication year
2022
Confidentiality
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů
Data specific for result type
Internal product ID
ASGARD-CLASS
Technical parameters
Software je realizován jako soubor nodů na bázi ROS2, který realizuje sběr dat ze senzorů pomocí vstupního rozhraní a který výsledky detekce a klasifikace poskytuje dále ve formě ROS2 topic.
Economical parameters
Software je využíván pro zlepšení plánování v robotech výzkumné skupiny, komerční využití samostatného modulu se zatím nepředpokládá.
Owner IČO
00216305
Owner name
Vysoké učení technické v Brně