ROS Integrated Object Detection for SLAM in Unknown, Low-Visibility Environments

Abstract

Integrating thermal (or infrared) imagery on a robotics platform allows Unmanned Ground Vehicles (UGV) to function in low-visibility environments, such as pure darkness or low-density smoke. To maximize the effectiveness of this approach we discuss the modifications required to integrate our low-visibility object detection model on a Robot Operating System (ROS). Furthermore, we introduce a method for reporting detected objects while performing Simultaneous Localization and Mapping (SLAM) by generating bounding boxes and their respective transforms in visually challenging environments.

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Document Details

Document Type
Technical Report
Publication Date
Nov 01, 2021
Accession Number
AD1153093

Entities

People

  • Benjamin A. Christie
  • Garry P. Glaspell
  • Osama Ennasr

Organizations

  • Engineer Research and Development Center

Tags

Communities of Interest

  • Autonomy
  • Energy and Power Technologies
  • Human Systems
  • Sensors

DTIC Thesaurus Topics

  • Artificial Intelligence
  • Artificial Intelligence Software
  • Automata Theory
  • Cartography
  • Computer Languages
  • Computer Vision
  • Computers
  • Data Sets
  • Detection
  • Engineers
  • Ground Vehicles
  • Neural Networks
  • Object Recognition
  • Robotics
  • Simultaneous Localization And Mapping
  • Unmanned Ground Vehicles
  • Vehicles

Fields of Study

  • Computer science

Readers

  • Aviation Safety and Air Traffic Management
  • Image Processing and Computer Vision.
  • Robotics and Automation.

Technology Areas

  • AI & ML
  • AI & ML - Autonomous Systems
  • Autonomy