嵌入式计算平台上的 ROS 2 移动机器人感知系统

Q3 Engineering IFAC-PapersOnLine Pub Date : 2024-01-01 DOI:10.1016/j.ifacol.2024.07.414

Tomáš Zemčík , Lukáš Kratochvíla

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引用次数: 0

摘要

本文提出并实现了一种移动机器人感知系统，该系统结合了激光雷达传感器和彩色摄像头。为了让机器人安全可靠地导航工作区域，需要对先验已知环境中的未知物体进行定位和分类。为此，我们提出了一个管道，用于处理和融合激光雷达三维点云数据与单目彩色摄像头图像分类，从而精确定位三维检测并进行分类。所提出的管道设计用于在 ROS 2 环境下的有限计算能力嵌入式平台上运行，并已在机器人测试平台上进行了测试。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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Mobile robot perception system in ROS 2 on embedded computing platforms

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 safely 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.

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来源期刊

IFAC-PapersOnLine Engineering-Control and Systems Engineering

CiteScore

1.70

自引率

0.00%

发文量

1122

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