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

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 de...

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Bibliographic Details
Published inSoftwareX Vol. 17; p. 100956
Main Authors Muravyev, Kirill, Bokovoy, Andrey, Yakovlev, Konstantin
Format Journal Article
LanguageEnglish
Published Elsevier B.V 01.01.2022
Elsevier
Subjects
Autonomous navigation
Depth reconstruction
Robot operating system
Vision-based simultaneous localization and mapping
Robot operating system
Depth reconstruction
Autonomous navigation
Vision-based simultaneous localization and mapping
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Summary: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.
ISSN:2352-7110
2352-7110
DOI:10.1016/j.softx.2021.100956