Visual analytics of 3D LiDAR point clouds in robotics operating systems

Azri, Alia Mohd; Abdul-Rahman, Shuzlina; Hamzah, Raseeda; Aziz, Zalilah Abd; Bakar, Nordin Abu

doi:10.11591/eei.v9i2.2061

Cited by 5 publications

(6 citation statements)

References 21 publications

(26 reference statements)

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“…However, this research aims to fill the knowledge gap by designing, developing, and evaluating a LIDAR sensor-based wheeled robot system [6,7] which can increase the effectiveness of hostage release operations. With this approach, researchers hope to significantly contribute to solving this important problem and make it safer, more efficient, and more effective in the context of the Indonesian Armed Forces, possibly having broader implications in similar operation scenarios.…”

Section: Introductionmentioning

confidence: 99%

Hostage Liberation Operations using Wheeled Robots Based on LIDAR (Light Detection and Ranging) Sensors

Kasiyanto,

Aripriharta,

Widiatmoko

et al. 2024

matrik

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Hostage release operations require a high level of precision, alertness, and skill, which are carried out manually by soldiers of the Indonesian National Army. This medium presents a significant risk to soldiers. This research aims to improve the effectiveness of hostage release operations by integrating wheeled robot technology based on Light Detection and Ranging (LIDAR) sensors. The research method used is experiment-based in developing and testing a prototype of a mobile robot equipped with LIDAR technology and a web camera capable of mapping the location of hostages in three dimensions. The research showed that this robot has high accuracy, reaching 97.87%, and can createthree-dimensional route maps and display real-time video on a computer. The use of this technology has the potential to reduce risks to soldiers and improve the accuracy of mapping hostage locations, which can ultimately improve the safety and effectiveness of hostage release operations in the context of special operations tasks by soldiers of the Army.

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Section: Introductionmentioning

confidence: 99%

Hostage Liberation Operations using Wheeled Robots Based on LIDAR (Light Detection and Ranging) Sensors

Kasiyanto,

Aripriharta,

Widiatmoko

et al. 2024

matrik

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“…It is crucially important to have highly precise decision ability for autonomous robot applications in a dynamic and unknown environment [27]- [29]. The decision process is one of the high-time dependency tasks, especially, detection and identification of obstacles [28], [30], [31].…”

Section: Introductionmentioning

confidence: 99%

Performance analysis of real-time and general-purpose operating systems for path planning of the multi-robot systems

Canbaz

Erdemir²

2022

IJECE

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In general, modern operating systems can be divided into two essential parts, real-time operating systems (RTOS) and general-purpose operating systems (GPOS). The main difference between GPOS and RTOS is the system istime-critical or not. It means that; in GPOS, a high-priority thread cannot preempt a kernel call. But, in RTOS, a low-priority task is preempted by a high-priority task if necessary, even if it’s executing a kernel call. Most Linux distributions can be used as both GPOS and RTOS with kernel modifications. In this study, two Linux distributions, Ubuntu and Pardus, were analyzed and their performances were compared both as GPOS and RTOS for path planning of the multi-robot systems. Robot groups with different numbers of members were used to perform the path tracking tasks using both Ubuntu and Pardus as GPOS and RTOS. In this way, both the performance of two different Linux distributions in robotic applications were observed and compared in two forms, GPOS, and RTOS.

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“…As the SLAM produces a map of the unknown environment, possible computer vision algorithms for detection and enhancement of image quality can be achieved. One good solution is to use an excellent RGB-Depth camera with a suitable depth range sensor and test the SLAM strategies outdoor and then correct the mismatches and errors occurring underwater environment [6][4] [7]. For the economy and scientific findings, AUVs are exploring the marine environments such as caves, deep sea bed, and shipwrecks.…”

Section: Introductionmentioning

confidence: 99%

Real-Time Appearance Based Mapping using Visual Sensor for Unknown Environment

Aravind

Ganesh

Prince

2022

J. Phys.: Conf. Ser.

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Underwater environment is one of the most challenging areas when considering scene reconstruction and mapping, feature extraction of environment etc. GPS usage is denied in underwater environment and a waterproof lidar is also not a cost-effective solution to map and localize. Lidar-based simultaneous localization and mapping (SLAM) are also not preferred in budget-constrained applications. So, a visual-slam (V-SLAM) approach called Real-Time Appearance Based Mapping (RTAB-Map) is used to reconstruct the view in underwater scenario, i.e., map and localize the camera in the environment. In this work, Intel Real Sense D455 depth camera with inbuilt inertial measurement unit (IMU) is used for scene reconstruction. In order to get better visualization, it needs high performance embedded computer. Here, Jetson Nano embedded computer with robot operating system is used. Experiment is conducted for 3-D reconstruction map with the help of RTAB mapping technique and inbuilt IMU localized the camera in unknown environment. Then various depth, point clouds, odometry of a camera, visual object information is extracted in the indoor environment.

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Visual analytics of 3D LiDAR point clouds in robotics operating systems

Cited by 5 publications

References 21 publications

Hostage Liberation Operations using Wheeled Robots Based on LIDAR (Light Detection and Ranging) Sensors

Hostage Liberation Operations using Wheeled Robots Based on LIDAR (Light Detection and Ranging) Sensors

Performance analysis of real-time and general-purpose operating systems for path planning of the multi-robot systems

Real-Time Appearance Based Mapping using Visual Sensor for Unknown Environment

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