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

Авторы

Яковлев К. С. Боковой А. В. Муравьев К. Ф.

Аннотация

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.

Внешние ссылки

DOI: 10.1016/j.softx.2021.100956

Скачать PDF или читать онлайн на сайте журнала SoftwareX (англ.): 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

Ссылка при цитировании

Муравьёв К. Ф., Боковой А. В., Яковлев К. С. tx2_fcnn_node: An open-source ROS compatible tool for monocular depth reconstruction // SoftwareX, Том 17, 100956, январь 2022. — C. 1-6.