KFU. Card publication. Virtual experiments on mobile robot localization with an external smart RGB-D camera using ROS

KAZAN
FEDERAL UNIVERSITY

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- 中文
- ES

VIRTUAL EXPERIMENTS ON MOBILE ROBOT LOCALIZATION WITH AN EXTERNAL SMART RGB-D CAMERA USING ROS

Form of presentation

Conference proceedings in international journals and collections

Year of publication

2022

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Authors, employees of KFU

Lavrenov Roman Olegovich, author

Magid Evgeniy Arkadevich, author

Coy Tatyana Grigorevna, author

Other authors

Martinez-Garsia Edgar A. , author

Authors, students KFU

Kononov Kirill Georgievich, author

Bibliographic description in the original language

Kononov K., Lavrenov R., Tsoy T., Martinez-Garcia E.A., Magid E. Virtual experiments on mobile robot localization with an external smart RGB-D camera using ROS // Proceedings of the 3rd IEEE Eurasia Conference on IOT, Communication and Engineering 2021 (IEEE ECICE 2021) (Yunlin, Taiwan; 29-31 October 2021) - p. 656-659.

Annotation

Proceedings of the 3rd IEEE Eurasia Conference on IOT, Communication and Engineering 2021 (IEEE ECICE 2021)

Keywords

Robot Localization, Robot Recognition, Smart Environments

The name of the journal

Proceedings of the 3rd IEEE Eurasia Conference on IOT, Communication and Engineering 2021 (IEEE ECICE 2021)

URL

https://ieeexplore.ieee.org/document/9645644

Please use this ID to quote from or refer to the card

https://repository.kpfu.ru/eng/?p_id=265874&p_lang=2

Resource files

File name	Size (MB)	Format
F_2021_Virtual_experiments_on_mobile_robot_localization_with_an_external_smart_RGB_D_camera_using_ROS.pdf	1,21	pdf	show / download

Full metadata record

Field DC	Value	Language
dc.contributor.author	Lavrenov Roman Olegovich	ru_RU
dc.contributor.author	Magid Evgeniy Arkadevich	ru_RU
dc.contributor.author	Coy Tatyana Grigorevna	ru_RU
dc.contributor.author	Martinez-Garsia Edgar A.	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., Tsoy T., Martinez-Garcia E.A., Magid E. Virtual experiments on mobile robot localization with an external smart RGB-D camera using ROS // Proceedings of the 3rd IEEE Eurasia Conference on IOT, Communication and Engineering 2021 (IEEE ECICE 2021) (Yunlin, Taiwan; 29-31 October 2021) - p. 656-659.	ru_RU
dc.identifier.uri	https://repository.kpfu.ru/eng/?p_id=265874&p_lang=2	ru_RU
dc.description.abstract	Proceedings of the 3rd IEEE Eurasia Conference on IOT, Communication and Engineering 2021 (IEEE ECICE 2021)	ru_RU
dc.description.abstract	Precise robot localization is important for all mobile robots, which has to deal with accumulating odometry errors, onboard sensory noise, harsh environmental conditions, unstable or missing GPS signal, and absence or uncertainties of a global map. Yet, localization is considered in Smart Environments applying dynamic connectivity with external local sensors within the Internet of Things (IoT) paradigm. This paper presents experimental results of robot indoor localization using a single external smart RGB-D camera. The virtual experiments were performed in the ROS Gazebo simulator with Turtlebot3 Waffle Pi mobile robot model. Three types of robot motion within a virtual office environment were considered: static state, linear motion, and three different cases of curvilinear locomotion. In all cases, external RGB-D camera usage allowed to obtain a reasonably accurate location of the robot.	ru_RU
dc.language.iso	ru	ru_RU
dc.subject	Robot Localization	ru_RU
dc.subject	Robot Recognition	ru_RU
dc.subject	Smart Environments	ru_RU
dc.title	Virtual experiments on mobile robot localization with an external smart RGB-D camera using ROS	ru_RU
dc.type	Conference proceedings in international journals and collections	ru_RU