Publication detail

Mobile robot perception system in ROS 2 on embedded computing platform

ZEMČÍK, T. KRATOCHVÍLA, L.

Original Title

Mobile robot perception system in ROS 2 on embedded computing platform

Type

conference paper

Language

English

Original 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.

Keywords

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

Authors

ZEMČÍK, T.; KRATOCHVÍLA, L.

Released

28. 6. 2024

Publisher

Elsevier

ISBN

2405-8963

Periodical

IFAC-PapersOnLine (ELSEVIER)

Year of study

58

Number

9

State

Kingdom of the Netherlands

Pages from

305

Pages to

310

Pages count

6

URL

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

Full text in the Digital Library

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 (ELSEVIER)",
  volume="58",
  number="9",
  pages="305--310",
  publisher="Elsevier",
  doi="10.1016/j.ifacol.2024.07.414",
  issn="2405-8963",
  url="https://www.sciencedirect.com/science/article/pii/S2405896324005032"
}