ペドロを追いかけろ！赤外線を用いた非線形最適化による人物追従ロボット
Follow Pedro! An Infrared-based Person-Follower using Nonlinear Optimization
ROS2上で魚眼カメラ・LiDAR・IMUを組み合わせ、ARマーカーや赤外線ビーコンをパーティクルフィルタと非線形最適化で追跡する人物追従システムを車輪ロボットに実装した。
著者: Pedro Pena, Toffee Albina
分類: cs.RO
原文アブストラクト
We used ROS2 as a platform to conduct AI research for developing a Follow-Me capability as a proof-of-concept on a wheeled robot, demonstrating that AI research is possible in the ROS2 framework. We developed a complete system that uses perception and navigation components based on a sensor suite of fisheye cameras, lidar, and IMU running on an ARM64 Embedded Linux platform that runs ROS2 natively. The perception package detects AR markers and/or IR beacons to track a person. The tracker uses AI algorithms such as particle filters and nonlinear optimization to extract the SE(3) information of the 2D feature.