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https://hdl.handle.net/11681/42385
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DC Field | Value | Language |
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dc.contributor.author | Christie, Benjamin A. | - |
dc.contributor.author | Ennasr, Osama. | - |
dc.contributor.author | Glaspell, Garry P. | - |
dc.date.accessioned | 2021-11-18T15:55:31Z | - |
dc.date.available | 2021-11-18T15:55:31Z | - |
dc.date.issued | 2021-11 | - |
dc.identifier.govdoc | ERDC/GRL TR-21-6 | - |
dc.identifier.uri | https://hdl.handle.net/11681/42385 | - |
dc.identifier.uri | http://dx.doi.org/10.21079/11681/42385 | - |
dc.description | Technical Report | en_US |
dc.description.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. | en_US |
dc.description.sponsorship | United States. Army. Corps of Engineers. | en_US |
dc.description.tableofcontents | Abstract ................................................................................................................................................... ii Figures .................................................................................................................................................... iv Preface ..................................................................................................................................................... v Acronyms and Abbreviations ................................................................................................................ vi 1 Introduction ..................................................................................................................................... 1 1.1 Background ..................................................................................................................... 1 1.2 Objective .......................................................................................................................... 1 1.3 Approach ......................................................................................................................... 2 2 ROS Integration .............................................................................................................................. 6 3 Conclusion and Future Implementations .................................................................................. 11 4 Installation .................................................................................................................................... 12 4.1 Configuration................................................................................................................. 14 4.2 Launch ........................................................................................................................... 15 5 Code Listings ................................................................................................................................ 16 References ............................................................................................................................................ 30 Report Documentation Page .............................................................................................................. 31 | - |
dc.format.extent | 39 pages / 1.35 MB | - |
dc.format.medium | - | |
dc.language.iso | en_US | en_US |
dc.publisher | Geospatial Research Laboratory (U.S.) | en_US |
dc.publisher | Engineer Research and Development Center (U.S.) | - |
dc.relation.ispartofseries | Technical Report (Engineer Research and Development Center (U.S.)) ; no. ERDC/GRL TR-21-6 | - |
dc.rights | Approved for Public Release; Distribution is Unlimited | - |
dc.source | This Digital Resource was created in Microsoft Word and Adobe Acrobat | - |
dc.subject | Automated vehicles | en_US |
dc.subject | Vehicles, Military | en_US |
dc.subject | Visibility | en_US |
dc.subject | Optics | en_US |
dc.subject | Infrared imaging | en_US |
dc.title | ROS integrated object detection for SLAM in unknown, low-visibility environments | en_US |
dc.type | Report | en_US |
Appears in Collections: | Technical Report |
Files in This Item:
File | Description | Size | Format | |
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ERDC-GRL TR-21-6.pdf | 1.35 MB | Adobe PDF | View/Open |