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Petr Neduchal and Lukáš Bureš and Miloš Železný : Environment Detection System for Localization and Mapping Purposes . IFAC PapersOnline, 2019.


The goal of this paper is to present a concept and implementation of an Environment Detection System. The system is supposed to collect data from sensors attached to the mobile robot and then enhance the map of the environment by this information. Moreover, the data can be processed to get valuable information about the environment or its change. The open-source implementation of the system is written for Robot Operating System. Thus, the system can handle data from different sensors using a unified way. It is possible by employing the messaging mechanism implemented in the Robot Operating System. Another contribution of this paper are records of our testing runs with a 6WD mobile robot equipped by multiple sensors, which can be used as a dataset for SLAM and Environment Detection System implementations.

Detail of publication

Title: Environment Detection System for Localization and Mapping Purposes
Author: Petr Neduchal ; Lukáš Bureš ; Miloš Železný
Language: English
Year: 2019
Type of publication: Papers in journals
Title of journal or book: IFAC PapersOnline
ISSN: 2405-8963
/ 2019-11-21 09:33:01 /


Mobile Robots, Multisensor Integration, Simultaneous Localization, Mapping, Robotics, Sensors, Cameras, Encoders, Embedded systems


 author = {Petr Neduchal and Luk\'{a}\v{s} Bure\v{s} and Milo\v{s} \v{Z}elezn\'{y}},
 title = {Environment Detection System for Localization and Mapping Purposes },
 year = {2019},
 journal = {IFAC PapersOnline},
 ISSN = {2405-8963},
 url = {},