Please use this identifier to cite or link to this item:
https://hdl.handle.net/11681/42385| Title: | ROS integrated object detection for SLAM in unknown, low-visibility environments |
| Authors: | Christie, Benjamin A. Ennasr, Osama. Glaspell, Garry P. |
| Keywords: | Automated vehicles Vehicles, Military Visibility Optics Infrared imaging |
| Publisher: | Geospatial Research Laboratory (U.S.) Engineer Research and Development Center (U.S.) |
| Series/Report no.: | Technical Report (Engineer Research and Development Center (U.S.)) ; no. ERDC/GRL TR-21-6 |
| Abstract: | Integrating thermal (or infrared) imagery on a robotics platform allows Unmanned Ground Vehicles (UGV) to function in low-visibility environments, such as pure darkness or low-density smoke. To maximize the effectiveness of this approach we discuss the modifications required to integrate our low-visibility object detection model on a Robot Operating System (ROS). Furthermore, we introduce a method for reporting detected objects while performing Simultaneous Localization and Mapping (SLAM) by generating bounding boxes and their respective transforms in visually challenging environments. |
| Description: | Technical Report |
| Gov't Doc #: | ERDC/GRL TR-21-6 |
| Rights: | Approved for Public Release; Distribution is Unlimited |
| URI: | https://hdl.handle.net/11681/42385 http://dx.doi.org/10.21079/11681/42385 |
| Size: | 39 pages / 1.35 MB |
| Types of Materials: | |
| Appears in Collections: | Technical Report |
Files in This Item:
| File | Description | Size | Format | |
|---|---|---|---|---|
| ERDC-GRL TR-21-6.pdf | 1.35 MB | Adobe PDF |  View/Open |