Robotic Outdoor Platform for Sensory Data Measurements and Evaluation of 3D Reconstruction and Mapping Methods

Authors:Materna Zdeněk, Beran Vítězslav, Španěl Michal, Veľas Martin, Kapinus Michal
Licence:required - licence fee
+Type Name Title Size Last modified
iconVUT_FIT_Toad_foto1.pngThe robotic base Pioneer 3AT has been extended by a construction made of aluminium profiles and plastic desks to mount the required senzors. The construction in its rear part has a place for a computational and control computer.3,31 MB2015-10-22 14:12:42
iconVUT_FIT_Toad_foto2.pngA support for an antenna of the AHRS unit and a separate GPS unit connected to the Velodyne sensor is mounted on the right side of the construction.1,85 MB2015-10-22 14:12:42
iconVUT_FIT_Toad_foto3.pngA view on robot's battery compartment able to fit up to three maintenance free lead-acid accumulators.444 KB2015-10-22 14:12:42
iconVUT_FIT_Toad_foto4.pngVisualization of the robot model and Velodyne sensor data.297 KB2015-10-30 12:32:51
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Keywords:outdoor platform, Velodyne LiDAR, stereo camera, experimental data sets, ROS, autonomous vehicle
The device is a functional sample of robotic platform. It is fitted with sensors for capturing data for further analysis and evaluation of 3D mapping and reconstruction algorithms. The robot built on top of Pioneer 3-AT base is usable in both indoor and outdoor conditions which for instance makes it suitable as a testing platform for autonomous driving based on sensory data processing via computer vision algorithms. The software equipment is based on meta-operating system ROS (Robot Operating System) defining structure of sensor and command messages. Prepared ROS modules provides a lot of functionality for data acquisition and analysis and allows easy portability of developed algorithms to another robotic platform. The robot can be controlled manually as well as autonomously by setting navigation goals in its map of imminent surroundings.
Laboratory O104 (1st floor), building of FIT BUT Brno, Bozetechova 1, 612 66 Brno, Czech Republic
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For information and license conditions contact please: Mgr. Michaela Burianová, Research Centre of Information Technology, Faculty of Information Technology, Brno University of Technology, Božetěchova 2, 612 66 Brno, 541 141 470,

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