Year: 2019
Type: preprint
Abstract: We used ROS2 as a platform to conduct AI research for developing a Follow-Me capability as a proof-of-concept on a wheeled robot, demonstrating that AI research is possible in the ROS2 framework. We developed a complete system that uses perception and navigation components based on a sensor suite of fisheye cameras, lidar, and IMU running on an ARM64 Embedded Linux platform that runs ROS2 natively. The perception package detects AR markers and/or IR beacons to track a person. The tracker uses AI algorithms such as particle filters and nonlinear optimization to extract the SE(3) information of the 2D feature.
Source: arXiv (Cornell University)
Authors: Pena, Pedro, Albina, Toffee
Institution: Toyota Research Institute
Language: English
Subfield: Aerospace Engineering
Field: Engineering
Domain: Physical Sciences
Open Access status: green
OpenAlex ID: W2994954647