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Modelling mobile robot navigation in 3D environments: Camera-based stairs recognition in Gazebo

P. 1–6.
Mustafin M., Tsoy T., Martinez-Garcia E., Meshcheryakov R., Magid E.

The task of sensory-based autonomous navigation of mobile robots requires data fusion from multiple sources in order to properly detect and recognize environmental obstacles. One of important issues mobile robots deal in a typical multi-level indoor environment is a stair well detection and negotiation. This paper presents ROS-based stairs detection implementation using onboard cameras of the Russian mobile crawler robot Servosila Engineer. Virtual experiments were performed in Gazebo environment with a single camera and a stereo camera. © 2022 IEEE.

Language: English
DOI
Text on another site
Keywords: мобильный роботкомпьютерное зрениеROScomputer visionobject recognitionGazeboMobile crawler robot

In book

Proceedings of 2022 IEEE Moscow Workshop on Electronic and Networking Technologies (MWENT)
Proceedings of 2022 IEEE Moscow Workshop on Electronic and Networking Technologies (MWENT)
M.: IEEE, 2022.
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