Design of a Mobile Data Collection Robot for Learning-based Localization and Autonomous Driving
[ X ]
Tarih
2023
Dergi Başlığı
Dergi ISSN
Cilt Başlığı
Yayıncı
Institute of Electrical and Electronics Engineers Inc.
Erişim Hakkı
info:eu-repo/semantics/closedAccess
Özet
This study introduces a mobile robot capable of collecting position and corresponding visual data seamlessly from both indoor and outdoor settings within the same sequence. The mobile robot has been specifically designed to navigate obstacles such as stairs and steps during transitions between indoor and outdoor environments. To accomplish this, the robot incorporates differential driving dynamics and is equipped with essential sensors including two stereo cameras, LIDAR, IMU, and GNSS. The entire system operates on the Robot Operating System (ROS). Consequently, it becomes possible to create a comprehensive dataset that encompasses not only the routes traversed by mobile vehicles but also includes all vehicle and pedestrian roads, as well as indoor spaces, found within a campus environment. © 2023 IEEE.
Açıklama
2023 Innovations in Intelligent Systems and Applications Conference, ASYU 2023 -- 11 October 2023 through 13 October 2023 -- Sivas -- 194153
Anahtar Kelimeler
dataset, Mobile robot, tracked robot, visual localization
Kaynak
2023 Innovations in Intelligent Systems and Applications Conference, ASYU 2023
