Mobile robot perception system in ROS 2 on embedded computing platform
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Date
2024-06-28
Authors
Zemčík, Tomáš
Kratochvíla, Lukáš
0000-0003-4363-4313Advisor
Referee
Mark
Journal Title
Journal ISSN
Volume Title
Publisher
Elsevier
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Abstract
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.
Description
Citation
IFAC-PapersOnLine (ELSEVIER). 2024, vol. 58, issue 9, p. 305-310.
https://www.sciencedirect.com/science/article/pii/S2405896324005032
https://www.sciencedirect.com/science/article/pii/S2405896324005032
Document type
Peer-reviewed
Document version
Published version
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Language of document
en
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Comittee
Date of acceptance
Defence
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Document licence
Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 International
http://creativecommons.org/licenses/by-nc-nd/4.0/
http://creativecommons.org/licenses/by-nc-nd/4.0/