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Cédric Tessier
CV Under Construction... ABSTRACT In 2004, the aim of our team was to develop a very simple architecture for evaluating localisation algorithms using several sensors communicating with different bus (IEEE 1394, serial, Ethernet, CAN…). Our localisation algorithms work in outdoor environment and need great computing power. So this architecture has to acquire sensor data with small computing power. Acquiring several data sources often needs to synchronize them. In AROCCAM we chose to date them taking into account sensor latency. So we propose to the user a dated list of sensor data always available. He can use this list but also save it in files to use with its algorithms at normal speed or other speed (compressing or dilating time). An other vital concern was to make an architecture easy to use, because lots of students work in our team. So AROCCAM offers the data list with no constraint on the data use. The user can plug its algorithms and compile them just adding subscription on data sensor. From 2004, we has used this architecture with good results integrating GPS, Video, Doppler, speed, and behaviour data for the localisation of a mobile robot in outdoor environments. |