Abstract
The goal of this paper is to present a concept and implementation of an Environment Detection System. The system is supposed to collect data from sensors attached to the mobile robot and then enhance the map of the environment by this information. Moreover, the data can be processed to get valuable information about the environment or its change. The open-source implementation of the system is written for Robot Operating System. Thus, the system can handle data from different sensors using a unified way. It is possible by employing the messaging mechanism implemented in the Robot Operating System. Another contribution of this paper are records of our testing runs with a 6WD mobile robot equipped by multiple sensors, which can be used as a dataset for SLAM and Environment Detection System implementations.
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