КФУ. Карточка публикации. External RGB-D camera based mobile robot localization in Gazebo environment with real-time filtering and smoothing techniques

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EXTERNAL RGB-D CAMERA BASED MOBILE ROBOT LOCALIZATION IN GAZEBO ENVIRONMENT WITH REAL-TIME FILTERING AND SMOOTHING TECHNIQUES

Форма представления

Статьи в зарубежных журналах и сборниках

Год публикации

2021

Язык

английский

Авторы, сотрудники КФУ

Гаврилова Лилия Радиковна, автор

Цой Татьяна Григорьевна, автор

Авторы, студенты КФУ

Кононов Кирилл Георгиевич, автор

Библиографическое описание на языке оригинала

Kononov K. External RGB-D camera based mobile robot localization in Gazebo environment with real-time filtering and smoothing techniques / Lavrenov R., Gavrilova L., Tsoy T. // Smart Innovation, Systems and Technologies. - Vol. 232. - p. 223-234.

Аннотация

16th International Conference on Electromechanics and Robotics «Zavalishin's Readings« (ER(ZR)-2021)

Ключевые слова

Mobile robot localization, Filtering and smoothing, Computer vision, Gazebo, ROS

Название журнала

16th International Conference on Electromechanics and Robotics «Zavalishin's Readings« (ER(ZR)-2021)

URL

https://link.springer.com/chapter/10.1007/978-981-16-2814-6_20

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https://repository.kpfu.ru/?p_id=256818

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Полная запись метаданных

Поле DC	Значение	Язык
dc.contributor.author	Гаврилова Лилия Радиковна	ru_RU
dc.contributor.author	Цой Татьяна Григорьевна	ru_RU
dc.contributor.author	Кононов Кирилл Георгиевич	ru_RU
dc.date.accessioned	2021-01-01T00:00:00Z	ru_RU
dc.date.available	2021-01-01T00:00:00Z	ru_RU
dc.date.issued	2021	ru_RU
dc.identifier.citation	Kononov K. External RGB-D camera based mobile robot localization in Gazebo environment with real-time filtering and smoothing techniques / Lavrenov R., Gavrilova L., Tsoy T. // Smart Innovation, Systems and Technologies. - Vol. 232. - p. 223-234.	ru_RU
dc.identifier.uri	https://repository.kpfu.ru/?p_id=256818	ru_RU
dc.description.abstract	16th International Conference on Electromechanics and Robotics «Zavalishin's Readings« (ER(ZR)-2021)	ru_RU
dc.description.abstract	In previous work, we successfully studied the possibility of a mobile robot localization using an external RGB-D camera. We conducted virtual experiments in a Gazebo simulator using ROS with a Turtlebot3 Waffle Pi as a mobile robot. find_object_2d package was used to localize the Turtlebot3 and send its computed position to ROS. Thus, we extended our research and ratchet that result up by implementing the algorithm for filtering and smoothing the computed mobile robot position. Our task was to develop a thin library that is a wrapper over the find_object_2d package. The filtering algorithm and smoothing can compute the supposed robot position or predict it in cases when the robot disappears from the camera's field of view. We conducted virtual experiments over again and draw a comparison between previous results (without filtering and smoothing algorithm) and current results (using filtering and smoothing algorithm with slight improvements).	ru_RU
dc.language.iso	ru	ru_RU
dc.subject	Mobile robot localization	ru_RU
dc.subject	Filtering and smoothing	ru_RU
dc.subject	Computer vision	ru_RU
dc.subject	Gazebo	ru_RU
dc.subject	ROS	ru_RU
dc.title	External RGB-D camera based mobile robot localization in Gazebo environment with real-time filtering and smoothing techniques	ru_RU
dc.type	Статьи в зарубежных журналах и сборниках	ru_RU