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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
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
Appears in Collections:Technical Report

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