Mobile robot perception system in ROS 2 on embedded computing platform

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dc.contributor.authorZemčík, Tomášcs
dc.contributor.authorKratochvíla, Lukášcs
dc.coverage.issue9cs
dc.coverage.volume58cs
dc.date.issued2024-06-28cs
dc.description.abstractIn 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.en
dc.formattextcs
dc.format.extent305-310cs
dc.format.mimetypeapplication/pdfcs
dc.identifier.citationIFAC-PapersOnLine (ELSEVIER). 2024, vol. 58, issue 9, p. 305-310.en
dc.identifier.doi10.1016/j.ifacol.2024.07.414cs
dc.identifier.issn2405-8963cs
dc.identifier.orcid0000-0003-4363-4313cs
dc.identifier.orcid0000-0001-8425-323Xcs
dc.identifier.other188922cs
dc.identifier.urihttp://hdl.handle.net/11012/249470
dc.language.isoencs
dc.publisherElseviercs
dc.relation.ispartofIFAC-PapersOnLine (ELSEVIER)cs
dc.relation.urihttps://www.sciencedirect.com/science/article/pii/S2405896324005032cs
dc.rightsCreative Commons Attribution-NonCommercial-NoDerivatives 4.0 Internationalcs
dc.rights.accessopenAccesscs
dc.rights.sherpahttp://www.sherpa.ac.uk/romeo/issn/2405-8963/cs
dc.rights.urihttp://creativecommons.org/licenses/by-nc-nd/4.0/cs
dc.subjectMobile roboten
dc.subjectknown environmenen
dc.subjectROS 2en
dc.subjectsensor fusionen
dc.subjectobject detectionen
dc.subject3D object localisationen
dc.titleMobile robot perception system in ROS 2 on embedded computing platformen
dc.type.driverconferenceObjecten
dc.type.statusPeer-revieweden
dc.type.versionpublishedVersionen
sync.item.dbidVAV-188922en
sync.item.dbtypeVAVen
sync.item.insts2025.02.03 15:39:35en
sync.item.modts2025.01.17 15:36:50en
thesis.grantorVysoké učení technické v Brně. Fakulta elektrotechniky a komunikačních technologií. Ústav automatizace a měřicí technikycs
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