Publication detail

Robotic Template Library

LIGOCKI, A. JELÍNEK, A. ŽALUD, L.

Original Title

Robotic Template Library

Type

journal article - other

Language

English

Original Abstract

Robotic Template Library (RTL) is a set of tools for dealing with geometry and point cloud processing, especially in robotic applications. The software package covers basic objects such as vectors, line segments, quaternions, rigid transformations, etc., however, its main contribution lies in the more advanced modules: The segmentation module for batch or stream clustering of point clouds, the fast vectorization module for approximation of continuous point clouds by geometric objects of higher grade and the LaTeX export module enabling automated generation of high-quality visual outputs. It is a header-only library written in C++17, uses the Eigen library as a linear algebra back-end, and is designed with high computational performance in mind. RTL can be used in all robotic tasks such as motion planning, map building, object recognition and many others, but the point cloud processing utilities are general enough to be employed in any field touching object reconstruction and computer vision applications as well.

Keywords

robotics, c++ library, geometric transformation, segmentation, vectorization, point cloud

Authors

LIGOCKI, A.; JELÍNEK, A.; ŽALUD, L.

Released

20. 9. 2021

Publisher

Ubiquity press

ISBN

2049-9647

Periodical

Journal of Open Research Software

Year of study

9

Number

1

State

United Kingdom of Great Britain and Northern Ireland

Pages from

25

Pages to

32

Pages count

8

URL

https://openresearchsoftware.metajnl.com/articles/10.5334/jors.353/

Full text in the Digital Library

http://hdl.handle.net/11012/203061

BibTex

@article{BUT172877,
  author="Adam {Ligocki} and Aleš {Jelínek} and Luděk {Žalud}",
  title="Robotic Template Library",
  journal="Journal of Open Research Software",
  year="2021",
  volume="9",
  number="1",
  pages="25--32",
  doi="10.5334/jors.353",
  issn="2049-9647",
  url="https://openresearchsoftware.metajnl.com/articles/10.5334/jors.353/"
}