Form of presentation | Articles in international journals and collections |
Year of publication | 2022 |
Язык | английский |
|
Gavrilova Liliya Radikovna, author
Lavrenov Roman Olegovich, author
Coy Tatyana Grigorevna, author
|
|
Kononov Kirill Georgievich, author
|
Bibliographic description in the original language |
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. |
Annotation |
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). |
Keywords |
Computer vision, Filtering and smoothing, Gazebo, Mobile robot localization, ROS |
The name of the journal |
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 |
Please use this ID to quote from or refer to the card |
https://repository.kpfu.ru/eng/?p_id=256822&p_lang=2 |
Resource files | |
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Full metadata record ![](https://shelly.kpfu.ru/pdf/picture/arrow_black_right.gif) |
Field DC |
Value |
Language |
dc.contributor.author |
Gavrilova Liliya Radikovna |
ru_RU |
dc.contributor.author |
Lavrenov Roman Olegovich |
ru_RU |
dc.contributor.author |
Coy Tatyana Grigorevna |
ru_RU |
dc.contributor.author |
Kononov Kirill Georgievich |
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/eng/?p_id=256822&p_lang=2 |
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 |
Articles in international journals and collections |
ru_RU |
|