Rapid data processing pipeline development using OpenRTM-aist

Detecting and understanding the world is an important step for any intelligent system, but also one that often requires significant processing power. This places great emphasis on the creation of efficient but flexible data processing pipelines. In this paper, we discuss the use of OpenRTM-aist and a component-based approach to rapidly create sensor processing pipelines. The sensor pipeline is made up of a series of filtering and processing steps, provided by pre-existing components for each step. We illustrate the techniques with a pipeline for processing point clouds using the PCL library.