Detail publikačního výsledku

Mobile robot perception system in ROS 2 on embedded computing platform

ZEMČÍK, T.; KRATOCHVÍLA, L.

Originální název

Mobile robot perception system in ROS 2 on embedded computing platform

Anglický název

Mobile robot perception system in ROS 2 on embedded computing platform

Druh

Stať ve sborníku v databázi WoS či Scopus

Originální abstrakt

In this paper a perception system of a mobile robot is proposed and implemented combining a LiDAR sensor with a colour camera. Localisation of unknown objects in an a priori known environment and their classification is required in order for the robot to safety and reliably navigate the working area. To this end, a pipeline is proposed to process and fuse the LiDAR 3D point-cloud data with a monocular colour camera image classifications yielding precisely localised 3D detections with class designations. The proposed pipeline is designed to run on limited computational power embedded platforms in the ROS 2 environment, and has been tested on a robotic testbench.

Anglický abstrakt

In this paper a perception system of a mobile robot is proposed and implemented combining a LiDAR sensor with a colour camera. Localisation of unknown objects in an a priori known environment and their classification is required in order for the robot to safety and reliably navigate the working area. To this end, a pipeline is proposed to process and fuse the LiDAR 3D point-cloud data with a monocular colour camera image classifications yielding precisely localised 3D detections with class designations. The proposed pipeline is designed to run on limited computational power embedded platforms in the ROS 2 environment, and has been tested on a robotic testbench.

Klíčová slova

Mobile robot, known environmen, ROS 2, sensor fusion, object detection, 3D object localisation

Klíčová slova v angličtině

Mobile robot, known environmen, ROS 2, sensor fusion, object detection, 3D object localisation

Autoři

ZEMČÍK, T.; KRATOCHVÍLA, L.

Rok RIV

2025

Vydáno

28.06.2024

Nakladatel

Elsevier

Kniha

18th IFAC Conference on Programmable Devices and Embedded Systems – PDeS 2024.

ISSN

2405-8963

Periodikum

IFAC-PapersOnLine

Svazek

58

Číslo

9

Stát

Spojené království Velké Británie a Severního Irska

Strany od

305

Strany do

310

Strany počet

6

URL

https://www.sciencedirect.com/science/article/pii/S2405896324005032

Plný text v Digitální knihovně

http://hdl.handle.net/11012/249470

BibTex

@inproceedings{BUT188922,
  author="Tomáš {Zemčík} and Lukáš {Kratochvíla}",
  title="Mobile robot perception system in ROS 2 on embedded computing platform",
  booktitle="18th IFAC Conference on Programmable Devices and Embedded Systems – PDeS 2024.",
  year="2024",
  journal="IFAC-PapersOnLine",
  volume="58",
  number="9",
  pages="305--310",
  publisher="Elsevier",
  doi="10.1016/j.ifacol.2024.07.414",
  issn="2405-8971",
  url="https://www.sciencedirect.com/science/article/pii/S2405896324005032"
}