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

2022

Язык

английский

Авторы, сотрудники КФУ

Гаврилова Лилия Радиковна, автор

Лавренов Роман Олегович, автор

Цой Татьяна Григорьевна, автор

Авторы, студенты КФУ

Кононов Кирилл Георгиевич, автор

Библиографическое описание на языке оригинала

Kononov K, Lavrenov R, Gavrilova L, External RGB-D Camera Based Mobile Robot Localization in Gazebo Environment with Real-Time Filtering and Smoothing Techniques//Smart Innovation, Systems and Technologies. - 2022. - Vol.232, Is.. - P.223-234.

Аннотация

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).

Ключевые слова

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

Название журнала

Smart Innovation, Systems and Technologies

URL

https://www.scopus.com/inward/record.uri?eid=2-s2.0-85115163455&doi=10.1007%2f978-981-16-2814-6_20&partnerID=40&md5=d36e8276ca65b25a8a3dc80748a1ffe2

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https://repository.kpfu.ru/?p_id=256822

Файлы ресурса

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2021_External_RGB_D_camera_based_mobile_robot_localization_in_Gazebo.pdf	0,40	pdf	посмотреть / скачать

Полная запись метаданных

Поле DC	Значение	Язык
dc.contributor.author	Гаврилова Лилия Радиковна	ru_RU
dc.contributor.author	Лавренов Роман Олегович	ru_RU
dc.contributor.author	Цой Татьяна Григорьевна	ru_RU
dc.contributor.author	Кононов Кирилл Георгиевич	ru_RU
dc.date.accessioned	2022-01-01T00:00:00Z	ru_RU
dc.date.available	2022-01-01T00:00:00Z	ru_RU
dc.date.issued	2022	ru_RU
dc.identifier.citation	Kononov K, Lavrenov R, Gavrilova L, External RGB-D Camera Based Mobile Robot Localization in Gazebo Environment with Real-Time Filtering and Smoothing Techniques//Smart Innovation, Systems and Technologies. - 2022. - Vol.232, Is.. - P.223-234.	ru_RU
dc.identifier.uri	https://repository.kpfu.ru/?p_id=256822	ru_RU
dc.description.abstract	Smart Innovation, Systems and Technologies	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	Computer vision	ru_RU
dc.subject	Filtering and smoothing	ru_RU
dc.subject	Gazebo	ru_RU
dc.subject	Mobile robot localization	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