Please use this identifier to cite or link to this item: https://hdl.handle.net/11681/42385
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dc.contributor.authorChristie, Benjamin A.-
dc.contributor.authorEnnasr, Osama.-
dc.contributor.authorGlaspell, Garry P.-
dc.date.accessioned2021-11-18T15:55:31Z-
dc.date.available2021-11-18T15:55:31Z-
dc.date.issued2021-11-
dc.identifier.govdocERDC/GRL TR-21-6-
dc.identifier.urihttps://hdl.handle.net/11681/42385-
dc.identifier.urihttp://dx.doi.org/10.21079/11681/42385-
dc.descriptionTechnical Reporten_US
dc.description.abstractIntegrating 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.sponsorshipUnited States. Army. Corps of Engineers.en_US
dc.description.tableofcontentsAbstract ................................................................................................................................................... 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.extent39 pages / 1.35 MB-
dc.format.mediumPDF-
dc.language.isoen_USen_US
dc.publisherGeospatial Research Laboratory (U.S.)en_US
dc.publisherEngineer Research and Development Center (U.S.)-
dc.relation.ispartofseriesTechnical Report (Engineer Research and Development Center (U.S.)) ; no. ERDC/GRL TR-21-6-
dc.rightsApproved for Public Release; Distribution is Unlimited-
dc.sourceThis Digital Resource was created in Microsoft Word and Adobe Acrobat-
dc.subjectAutomated vehiclesen_US
dc.subjectVehicles, Militaryen_US
dc.subjectVisibilityen_US
dc.subjectOpticsen_US
dc.subjectInfrared imagingen_US
dc.titleROS integrated object detection for SLAM in unknown, low-visibility environmentsen_US
dc.typeReporten_US
Appears in Collections:Technical Report

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