← 研踪 PaperTrailarXiv:2611.08100 · v1
An Integrated Open-Source Stack for Vision-Based Autonomous Navigation of Wheeled Rovers
首次提交 2026-11-05 22:42
版本更新 2026-11-05 22:42
雷达观测 2026-11-06 12:09
摘要
Vision-based rover autonomy requires integrating perception, localization, planning and platform-specific control under limited sensing and computing resources. We present an open-source ROS 2 stack for following directional arrows, reaching a terminal cone and returning autonomously to the start. It connects YOLOv8n detection and geometric direction, range and bearing estimation with RGB-D SLAM, wheel-inertial state estimation, kinematics-aware planning, behavior-tree mission management and STM32 actuation. Standard interfaces separate reusable autonomy from the hardware layer; a proportional path-following plugin supports low-speed rover motion. Public resources include software, configuration, a labeled dataset, trained weights and evaluation logs. On 478 held-out images, the detector achieves mAP@0.5 of 0.720 under the Ultralytics evaluator and outperforms a classical OpenCV baseline under a shared evaluation protocol. The reported perception latency is 25 ms on a Jetson Orin NX. Three missions, one indoor and two outdoor, demonstrate marker-guided navigation and autonomous return without operator motion commands or reported collisions. Field results document integration failures and corrective choices; repeated instrumented trials remain necessary to quantify physical navigation errors and reliability.
作者备注：Accepted at RiTA 2026
观测到的版本
相邻记录可能跳过中间版本；首次发现 v2 及以上也会标为版本更新。
v1 · 2026-11-05 22:42 · 最新观测版本
An Integrated Open-Source Stack for Vision-Based Autonomous Navigation of Wheeled Rovers
Vision-based rover autonomy requires integrating perception, localization, planning and platform-specific control under limited sensing and computing resources. We present an open-source ROS 2 stack for following directional arrows, reaching a terminal cone and returning autonomously to the start. It connects YOLOv8n detection and geometric direction, range and bearing estimation with RGB-D SLAM, wheel-inertial state estimation, kinematics-aware planning, behavior-tree mission management and STM32 actuation. Standard interfaces separate reusable autonomy from the hardware layer; a proportional path-following plugin supports low-speed rover motion. Public resources include software, configuration, a labeled dataset, trained weights and evaluation logs. On 478 held-out images, the detector achieves mAP@0.5 of 0.720 under the Ultralytics evaluator and outperforms a classical OpenCV baseline under a shared evaluation protocol. The reported perception latency is 25 ms on a Jetson Orin NX. Three missions, one indoor and two outdoor, demonstrate marker-guided navigation and autonomous return without operator motion commands or reported collisions. Field results document integration failures and corrective choices; repeated instrumented trials remain necessary to quantify physical navigation errors and reliability.
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