Development of a Laboratory Framework for Testing Simultaneous Localization and Mapping Approaches
Identifikátory výsledku
Kód výsledku v IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F49777513%3A23520%2F16%3A43929322" target="_blank" >RIV/49777513:23520/16:43929322 - isvavai.cz</a>
Výsledek na webu
<a href="http://dx.doi.org/10.1016/j.ifacol.2016.12.089" target="_blank" >http://dx.doi.org/10.1016/j.ifacol.2016.12.089</a>
DOI - Digital Object Identifier
<a href="http://dx.doi.org/10.1016/j.ifacol.2016.12.089" target="_blank" >10.1016/j.ifacol.2016.12.089</a>
Alternativní jazyky
Jazyk výsledku
angličtina
Název v původním jazyce
Development of a Laboratory Framework for Testing Simultaneous Localization and Mapping Approaches
Popis výsledku v původním jazyce
This paper deals with the task of developing a laboratory framework for testing Simultaneous Localization And Mapping algorithms (SLAM). The laboratory framework is composed of three parts. The first one are sensors attached to some mobile device like an unmanned ground or aerial vehicle. The second part is an embedded computer which is employed for collecting data from attached sensors and then it sends it to a remote computing node which is the last part of the proposed laboratory framework. The main purpose of the computing node is to solve the SLAM task. For computation and communication between the embedded computer and the computing node the Robot Operating System (ROS) is used. It provides communication layer based on standard ROS message mechanism that simplifies data exchange over a network. The laboratory framework is designed to work with common combinations of sensors used in various SLAM algorithms. Moreover, the laboratory framework makes it possible to replace the real environment or the robot platform with a simulated alternative. The laboratory framework builds on open source projects and on a proprietary software that is freely available for academic use.
Název v anglickém jazyce
Development of a Laboratory Framework for Testing Simultaneous Localization and Mapping Approaches
Popis výsledku anglicky
This paper deals with the task of developing a laboratory framework for testing Simultaneous Localization And Mapping algorithms (SLAM). The laboratory framework is composed of three parts. The first one are sensors attached to some mobile device like an unmanned ground or aerial vehicle. The second part is an embedded computer which is employed for collecting data from attached sensors and then it sends it to a remote computing node which is the last part of the proposed laboratory framework. The main purpose of the computing node is to solve the SLAM task. For computation and communication between the embedded computer and the computing node the Robot Operating System (ROS) is used. It provides communication layer based on standard ROS message mechanism that simplifies data exchange over a network. The laboratory framework is designed to work with common combinations of sensors used in various SLAM algorithms. Moreover, the laboratory framework makes it possible to replace the real environment or the robot platform with a simulated alternative. The laboratory framework builds on open source projects and on a proprietary software that is freely available for academic use.
Klasifikace
Druh
D - Stať ve sborníku
CEP obor
BC - Teorie a systémy řízení
OECD FORD obor
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Návaznosti výsledku
Projekt
<a href="/cs/project/LO1506" target="_blank" >LO1506: Podpora udržitelnosti centra NTIS - Nové technologie pro informační společnost</a><br>
Návaznosti
P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)<br>S - Specificky vyzkum na vysokych skolach
Ostatní
Rok uplatnění
2016
Kód důvěrnosti údajů
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů
Údaje specifické pro druh výsledku
Název statě ve sborníku
IFAC PaperOnline
ISBN
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ISSN
2405-8963
e-ISSN
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Počet stran výsledku
6
Strana od-do
493-498
Název nakladatele
Elsevier B.V.
Místo vydání
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Místo konání akce
Lednice, Czech Republic
Datum konání akce
5. 10. 2016
Typ akce podle státní příslušnosti
WRD - Celosvětová akce
Kód UT WoS článku
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