Atlas Fusion - Modern Framework for Autonomous Agent Sensor Data Fusion
The result's identifiers
Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F00216305%3A26620%2F22%3APU146841" target="_blank" >RIV/00216305:26620/22:PU146841 - isvavai.cz</a>
Result on the web
<a href="https://ieeexplore.ieee.org/document/9803587" target="_blank" >https://ieeexplore.ieee.org/document/9803587</a>
DOI - Digital Object Identifier
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Alternative languages
Result language
angličtina
Original language name
Atlas Fusion - Modern Framework for Autonomous Agent Sensor Data Fusion
Original language description
In this paper, we present our new sensor fusion framework for self-driving cars and other autonomous robots. We have designed our framework as a universal and scalable platform for building up a robust 3D model of the agent's surrounding environment by fusing a wide range of various sensors into the data model that we can use as a basement for the decision making and planning algorithms. Our software currently covers the data fusion of the RGB and thermal cameras, 3D LiDARs, 3D IMU, and a GNSS positioning. The framework covers a complete pipeline from data loading, filtering, preprocessing, environment model construction, visualization, and data storage. The architecture allows the community to modify the existing setup or to extend our solution with new ideas. The entire software is fully compatible with ROS (Robotic Operation System), which allows the framework to cooperate with other ROS-based software. The source codes are fully available as an open-source under the MIT license. See https://github
Czech name
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Czech description
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Classification
Type
O - Miscellaneous
CEP classification
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OECD FORD branch
20204 - Robotics and automatic control
Result continuities
Project
<a href="/en/project/8A19006" target="_blank" >8A19006: Integrated, Fail-Operational, Cognitive Perception, Planning and Control Systems for Highly Automated Vehicles</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