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Authors
Advisor(s)
Abstract(s)
Sistemas ground-truth são extremamente úteis no campo da robótica, fornecendo dados
externos precisos que são usados como referência na validação de sistemas de localização
embebidos em robôs móveis. No entanto, sistemas ground-truth geralmente
apresentam um custo elevado. O presente trabalho visa o desenvolvimento de um sistema
ground-truth de baixo custo capaz de determinar a localização e orientação de agentes
móveis por meio de um sensor laser rangefinder e uma câmera monocular. A metodologia
criada é aplicável a diversos tipos de robôs móveis terrestres, bastando que seja possível
fixar ao robô um alvo cilíndrico com marcadores coloridos. O sistema e a metodologia
desenvolvida foram implementados e validados através do SimTwo, um simulador realista.
Os resultados obtidos pelo sistema proposto foram comparados com os dados reais
(fornecidos pelo simulador), demonstrando que a solução desenvolvida atende aos objetivos
propostos. Por fim, são ressaltadas possíveis melhorias a serem implementadas em
trabalhos futuros.
Ground-truth systems are extremely useful in the field of robotics, providing accurate external data that is used as a reference in the validation of embedded localization systems in mobile robots. However, ground-truth systems generally have a high cost. The present work aims at the development of a low-cost ground-truth system capable of determining the location and orientation of mobile agents using a laser rangefinder sensor and a monocular camera. The methodology created is applicable to several types of mobile wheeled robots, provided that it is possible to fix a cylindrical target with colored markers to the robot. The developed system and methodology were implemented and validated through SimTwo, a realistic simulator. The results obtained by the proposed system were compared with the actual data (provided by the simulator), demonstrating that the developed solution meets the proposed objectives. Finally, possible improvements are highlighted to be implemented in future works.
Ground-truth systems are extremely useful in the field of robotics, providing accurate external data that is used as a reference in the validation of embedded localization systems in mobile robots. However, ground-truth systems generally have a high cost. The present work aims at the development of a low-cost ground-truth system capable of determining the location and orientation of mobile agents using a laser rangefinder sensor and a monocular camera. The methodology created is applicable to several types of mobile wheeled robots, provided that it is possible to fix a cylindrical target with colored markers to the robot. The developed system and methodology were implemented and validated through SimTwo, a realistic simulator. The results obtained by the proposed system were compared with the actual data (provided by the simulator), demonstrating that the developed solution meets the proposed objectives. Finally, possible improvements are highlighted to be implemented in future works.
Description
Mestrado de dupla diplomação com a UTFPR - Universidade Tecnológica Federal do Paraná
Keywords
Ground-truth Mobile robotics Localization systems SimTwo