Human-Machine Interface for Real-Time Interaction Focused on LiDAR SLAM Feature Extraction
- Natalia Prieto Fernández 2
- Sergio Fernández Blanco 3
- Álvaro Fernández Blanco 1
- José Alberto Benítez-Andrades 2
- Francisco Carro de Lorenzo 4
- Carmen Benavides 2
-
1
Universidad Carlos III de Madrid
info
- 2 Department of Electric, Systems and Automatics Engineering. Universidad de León
-
3
Universidad de León
info
- 4 TRESCA Ingeniería S.A. León, Spain
Editorial: IARIA
ISSN: 2308-4138
ISBN: 978-1-68558-163-3
Año de publicación: 2024
Páginas: 114-120
Tipo: Aportación congreso
Resumen
The development of Human-Machine Interfaces(HMIs) capable of visualising real-time processed data fromrobotic systems is of essential importance today. These graphicaluser interfaces play a crucial role in the smooth and efficientinteraction between humans and robots, resulting in a signif-icant improvement in the productivity and safety of variousindustrial and scientific applications. In this context, the presentwork addresses the design and development of an innovativehuman-machine interface for real-time 2D Light Detection andRanging (LiDAR) based Simultaneous Localization and Mapping(SLAM). Such interface has been implemented in MATLAB andestablishes an effective communication with the Robot OperatingSystem (ROS) environment. Its straightforward design, plannedfor real-time teleoperation, facilitates the acquisition and analysisof data from sensors and actuators of a robotic system. The real-time processing of the data supports computationally expensivetasks, such as those associated with SLAM processing. Indeed,feature extraction for environment mapping from 2D LiDAR datais one of its applications.