KFU. Card publication. 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

Form of presentation

Articles in international journals and collections

Year of publication

2022

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Authors, employees of KFU

Gavrilova Liliya Radikovna, author

Lavrenov Roman Olegovich, author

Coy Tatyana Grigorevna, author

Authors, students KFU

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

File name	Size (MB)	Format
2021_External_RGB_D_camera_based_mobile_robot_localization_in_Gazebo.pdf	0,40	pdf	show / download

Full metadata record

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