depth_nav_tools repository

Repository Summary

Checkout URI https://github.com/mdrwiega/depth_nav_tools.git
VCS Type git
VCS Version melodic-devel
Last Updated 2020-05-03
Dev Status DEVELOPED
CI status No Continuous Integration
Released UNRELEASED
Package Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Packages

README

depth_nav_tools

The set of software tools dedicated to a mobile robot autonomous navigation with a depth sensor, for example Kinect.

The metapackage depth_nav_tools contains following packages:

  • laserscan_kinect -- It converts the depth image to a laser scanner format (LaserScan). The node finds the smallest value of distance in each column of the depth image and converts it to polar coordinates. The package provides features like:
    • removing a ground plane from the output data,
    • a sensor tilt compenstaion.

However, the sensor position (heigh and tilt angle) must be known for a correct data processing. Parameters should be calculated in a frame of the ground plane.

  • depth_sensor_pose -- It detects the ground plane on the depth image and estimates the height and the tilt angle of the depth sensor relative to ground. The procedure of the ground plane detection based on the RANSAC algorithm and ranges of acceptable parameters.

  • cliff_detector -- This tool detects negative objects like cliffs or downstairs. It uses a known sensor pose to determine obstacles placed below the ground plane.

  • nav_layer_from_points -- It creates navigation costmap layer based on received points, for example from cliff_detector.

  • depth_nav_msgs -- Custom messages for other depth nav related packages.

Documentation

A full documentation is available at the ROS wiki and in the publication "A set of depth sensor processing ROS tools for wheeled mobile robot navigation"(PDF) by M. Drwięga and J. Jakubiak (Journal of Automation, Mobile Robotics & Intelligent Systems, 2017).

BibTeX:

@ARTICLE{drwiega17jamris,
  author = {Michał Drwięga and Janusz Jakubiak},
  title = {A set of depth sensor processing {ROS} tools for wheeled mobile robot navigation},
  journal = {Journal of Automation, Mobile Robotics & Intelligent Systems (JAMRIS)},
  year = 2017,
  doi = {10.14313/JAMRIS_2-2017/16},
  note = {Software available at \url{http://github.com/mdrwiega/depth_nav_tools}}
}

The example of obstacles detection by laserscan_kinect

Laserscan Kinect detection

The picture shows comparison between a laser scan based on the converted depth image from a Microsoft Kinect (blue points) and a laser scan from a scanner Hokuyo URG-04LX-UG01 (black points).

CONTRIBUTING

No CONTRIBUTING.md found.

Repository Summary

Checkout URI https://github.com/mdrwiega/depth_nav_tools.git
VCS Type git
VCS Version kinetic-devel
Last Updated 2020-05-03
Dev Status DEVELOPED
CI status No Continuous Integration
Released UNRELEASED
Package Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Packages

README

depth_nav_tools

The set of software tools dedicated to a mobile robot autonomous navigation with a depth sensor, for example Kinect.

The metapackage depth_nav_tools contains following packages:

  • laserscan_kinect -- It converts the depth image to a laser scanner format (LaserScan). The node finds the smallest value of distance in each column of the depth image and converts it to polar coordinates. The package provides features like:
    • removing a ground plane from the output data,
    • a sensor tilt compenstaion.

However, the sensor position (heigh and tilt angle) must be known for a correct data processing. Parameters should be calculated in a frame of the ground plane.

  • depth_sensor_pose -- It detects the ground plane on the depth image and estimates the height and the tilt angle of the depth sensor relative to ground. The procedure of the ground plane detection based on the RANSAC algorithm and ranges of acceptable parameters.

  • cliff_detector -- This tool detects negative objects like cliffs or downstairs. It uses a known sensor pose to determine obstacles placed below the ground plane.

  • nav_layer_from_points -- It creates navigation costmap layer based on received points, for example from cliff_detector.

  • depth_nav_msgs -- Custom messages for other depth nav related packages.

Documentation

A full documentation is available at the ROS wiki and in the publication "A set of depth sensor processing ROS tools for wheeled mobile robot navigation"(PDF) by M. Drwięga and J. Jakubiak (Journal of Automation, Mobile Robotics & Intelligent Systems, 2017).

BibTeX:

@ARTICLE{drwiega17jamris,
  author = {Michał Drwięga and Janusz Jakubiak},
  title = {A set of depth sensor processing {ROS} tools for wheeled mobile robot navigation},
  journal = {Journal of Automation, Mobile Robotics & Intelligent Systems (JAMRIS)},
  year = 2017,
  doi = {10.14313/JAMRIS_2-2017/16},
  note = {Software available at \url{http://github.com/mdrwiega/depth_nav_tools}}
}

The example of obstacles detection by laserscan_kinect

Laserscan Kinect detection

The picture shows comparison between a laser scan based on the converted depth image from a Microsoft Kinect (blue points) and a laser scan from a scanner Hokuyo URG-04LX-UG01 (black points).

CONTRIBUTING

No CONTRIBUTING.md found.

Repository Summary

Checkout URI https://github.com/mdrwiega/depth_nav_tools.git
VCS Type git
VCS Version indigo-devel
Last Updated 2020-05-03
Dev Status DEVELOPED
CI status No Continuous Integration
Released UNRELEASED
Package Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Packages

README

depth_nav_tools

The set of software tools dedicated to a mobile robot autonomous navigation with a depth sensor, for example Kinect.

The metapackage depth_nav_tools contains following packages:

  • laserscan_kinect -- It converts the depth image to a laser scanner format (LaserScan). The node finds the smallest value of distance in each column of the depth image and converts it to polar coordinates. The package provides features like:
    • removing a ground plane from the output data,
    • a sensor tilt compenstaion.

However, the sensor position (heigh and tilt angle) must be known for a correct data processing. Parameters should be calculated in a frame of the ground plane.

  • depth_sensor_pose -- It detects the ground plane on the depth image and estimates the height and the tilt angle of the depth sensor relative to ground. The procedure of the ground plane detection based on the RANSAC algorithm and ranges of acceptable parameters.

  • cliff_detector -- This tool detects negative objects like cliffs or downstairs. It uses a known sensor pose to determine obstacles placed below the ground plane.

  • nav_layer_from_points -- It creates navigation costmap layer based on received points, for example from cliff_detector.

  • depth_nav_msgs -- Custom messages for other depth nav related packages.

Documentation

A full documentation is available at the ROS wiki and in the publication "A set of depth sensor processing ROS tools for wheeled mobile robot navigation"(PDF) by M. Drwięga and J. Jakubiak (Journal of Automation, Mobile Robotics & Intelligent Systems, 2017).

BibTeX:

@ARTICLE{drwiega17jamris,
  author = {Michał Drwięga and Janusz Jakubiak},
  title = {A set of depth sensor processing {ROS} tools for wheeled mobile robot navigation},
  journal = {Journal of Automation, Mobile Robotics & Intelligent Systems (JAMRIS)},
  year = 2017,
  doi = {10.14313/JAMRIS_2-2017/16},
  note = {Software available at \url{http://github.com/mdrwiega/depth_nav_tools}}
}

The example of obstacles detection by laserscan_kinect

Laserscan Kinect detection

The picture shows comparison between a laser scan based on the converted depth image from a Microsoft Kinect (blue points) and a laser scan from a scanner Hokuyo URG-04LX-UG01 (black points).

CONTRIBUTING

No CONTRIBUTING.md found.