An Integrated Open-Source Stack for Vision-Based Autonomous Navigation of Wheeled Rovers
Overview
This paper introduces an open-source ROS 2 stack designed for vision-based autonomous navigation of wheeled rovers. The system integrates perception using YOLOv8n, localization via RGB-D SLAM, kinematics-aware planning, and behavior-tree mission management to execute tasks like following arrows, reaching a target cone, and returning autonomously. Evaluated on a Jetson Orin NX, the detector achieves an [email protected] of 0.720 on 478 held-out images with a reported latency of 25 ms. The authors demonstrate successful indoor and outdoor missions but emphasize that further instrumented trials are required to fully quantify physical navigation errors and system reliability.
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Control: reported autonomous
“arXiv:2611.08100v1 Announce Type: new Abstract: 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”
Exact source · revision 1Source owner not reported
Reported quantity · photo captures: 478 other · Basis not reported
“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 de”
Exact source · revision 1Source owner not reported
Reported quantity · perception latency: 25 other · Basis not reported
“tector achieves [email protected] 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 corre”
Exact source · revision 1Source owner not reported
Reported quantity · mAP score: 0.72 other · Basis not reported
“tector achieves [email protected] 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 corre”
Exact source · revision 1Source owner not reported
Reported quantity · missions: 3 other · reported trials
“tector achieves [email protected] 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 corre”
Exact source · revision 1Source owner not reported
Artifact availability · weights: reported pending
“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 de”
Exact source · revision 1Source owner not reported
Artifact availability · dataset: reported pending
“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 de”
Exact source · revision 1Source owner not reported
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- arXiv Robotics — research abstractsSignalAn Integrated Open-Source Stack for Vision-Based Autonomous Navigation of Wheeled Rovers
This paper introduces an open-source ROS 2 stack designed for vision-based autonomous navigation of wheeled rovers. The system integrates perception using YOLOv8n, localization via RGB-D SLAM, kinematics-aware planning, and behavior-tree mission management to execute tasks like following arrows, reaching a target cone, and returning autonomously. Evaluated on a Jetson Orin NX, the detector achieves an [email protected] of 0.720 on 478 held-out images with a reported latency of 25 ms. The authors demonstrate successful indoor and outdoor missions but emphasize that further instrumented trials are required to fully quantify physical navigation errors and system reliability.
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