Atlas Fusion - Modern Framework for Autonomous Agent Sensor Data Fusion

Kód výsledku v 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>

Výsledek na webu

<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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Jazyk výsledku

angličtina

Název v původním jazyce

Atlas Fusion - Modern Framework for Autonomous Agent Sensor Data Fusion

Popis výsledku v původním jazyce

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

Název v anglickém jazyce

Atlas Fusion - Modern Framework for Autonomous Agent Sensor Data Fusion

Popis výsledku anglicky

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

Druh

O - Ostatní výsledky

CEP obor

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OECD FORD obor

20204 - Robotics and automatic control

Projekt

<a href="/cs/project/8A19006" target="_blank" >8A19006: Integrated, Fail-Operational, Cognitive Perception, Planning and Control Systems for Highly Automated Vehicles</a><br>

Návaznosti

P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)

Rok uplatnění

2022

Kód důvěrnosti údajů

S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů