Atlas Fusion - Modern Framework for Autonomous Agent Sensor Data Fusion

Atlas Fusion - Modern Framework for Autonomous Agent Sensor Data Fusion

Software

Universal and scalable software for building a robust 3D model of the autonomous agent's surrounding environment by fusing a wide range of various sensors into the data model that can be used as a basement for the decision making and planning algorithms. The 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 to modify the existing setup or to extend the 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.

Universal and scalable software for building a robust 3D model of the autonomous agent's surrounding environment by fusing a wide range of various sensors into the data model that can be used as a basement for the decision making and planning algorithms. The 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 to modify the existing setup or to extend the 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.

sensor fusion; map building; localization; ROS

sensor fusion; map building; localization; ROS

CEITEC, Purkyňova 123, 61200 Brno, laboratoř B1.08

In order to use the result by another entity, it is always necessary to acquire a license

https://git.robotika.ceitec.vutbr.cz:2223/adash/autodrive-localmap