tx2_fcnn_node: An open-source ROS compatible tool for monocular depth reconstruction

Authors

Yakovlev K. Bokovoy A. Muravyov K.

Annotation

We present tx2_fcnn_node – a Robot Operating System (ROS) compatible tool that is aimed at seamless integration of various monocular depth reconstruction neural networks to the robotic software based on ROS (which is a de-facto standard in the area of robotics). Our tool simplifies the process of deploying, evaluating, and comparing depth reconstruction neural networks both on real robots and in simulation. We complement our software with a set of the precompiled neural networks which can be used off the shelf, with some of them being able to demonstrate near real-time performance when running onboard compact embedded platforms, e.g. Nvidia Jetson TX2, that are often used nowadays both in academia and industry.

External links

DOI: 10.1016/j.softx.2021.100956

Download PDF or read online at the SoftwareX journal website: https://www.softxjournal.com/article/S2352-7110(21)00183-7/fulltext

ResearchGate: https://www.researchgate.net/publication/357432870_tx2_fcnn_node_An_open-source_ROS_compatible_tool_for_monocular_depth_reconstruction

Reference link

Muravyev K., Bokovoy A., Yakovlev K. tx2_fcnn_node: An open-source ROS compatible tool for monocular depth reconstruction // SoftwareX, Volume 17, 100956, January 2022, pp. 1-6.