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| Hauptverfasser: | , |
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| Format: | Preprint |
| Veröffentlicht: |
2024
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| Schlagworte: | |
| Online-Zugang: | https://arxiv.org/abs/2411.12535 |
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| _version_ | 1866909395742359552 |
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| author | Gallego, Jhair S. Ramirez, Ricardo E. |
| author_facet | Gallego, Jhair S. Ramirez, Ricardo E. |
| contents | This work describes the process of integrating a depth camera into the navigation system of a self-driving ground vehicle (SDV) and the implementation of a multilayer costmap that enhances the vehicle's obstacle identification process by expanding its two-dimensional field of view, based on 2D LIDAR, to a three-dimensional perception system using an RGB-D camera. This approach lays the foundation for a robust vision-based navigation and obstacle detection system. A theoretical review is presented and implementation results are discussed for future work. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2411_12535 |
| institution | arXiv |
| publishDate | 2024 |
| record_format | arxiv |
| spellingShingle | Multilayer occupancy grid for obstacle avoidance in an autonomous ground vehicle using RGB-D camera Gallego, Jhair S. Ramirez, Ricardo E. Robotics This work describes the process of integrating a depth camera into the navigation system of a self-driving ground vehicle (SDV) and the implementation of a multilayer costmap that enhances the vehicle's obstacle identification process by expanding its two-dimensional field of view, based on 2D LIDAR, to a three-dimensional perception system using an RGB-D camera. This approach lays the foundation for a robust vision-based navigation and obstacle detection system. A theoretical review is presented and implementation results are discussed for future work. |
| title | Multilayer occupancy grid for obstacle avoidance in an autonomous ground vehicle using RGB-D camera |
| topic | Robotics |
| url | https://arxiv.org/abs/2411.12535 |