教師資料查詢 | 類別: 期刊論文 | 教師: 王銀添 Wang Yin-tien (瀏覽個人網頁)

標題:Calibration of RGB-D sensors for Robot SLAM
學年102
學期1
出版(發表)日期2014/01/01
作品名稱Calibration of RGB-D sensors for Robot SLAM
作品名稱(其他語言)
著者Chi, C.-T., S.-C. Yang and Y.T. Wang=王銀添
單位機械與機電工程學系暨研究所
出版者Stafa-Zurich: Trans Tech Publications Ltd.
著錄名稱、卷期、頁數Applied Mechanics and Materials 479-480, pp.677-681
摘要This paper presents a calibration procedure for a Kinect RGB-D sensor and its application
to robot simultaneous localization and mapping (SLAM). The calibration procedure consists of two stages: in the first stage, the RGB image is aligned with the depth image by using the bilinear interpolation. The distorted RGB image is further corrected in the second stage. The calibrated RGB-D sensor is used as the sensing device for robot navigation in unknown environment. In SLAM
tasks, the speeded-up robust features (SURF) are detected from the RGB image and used as
landmarks for the environment map. The depth image could provide the stereo information of each landmark. Meanwhile, the robot estimates its own state and landmark locations by mean of the extended Kalman filter (EKF). The EKF SLAM has been carried out in the paper and the
experimental results showed that the Kinect sensors could provide reliable measurement information for mobile robots when navigating in unknown environment.
關鍵字RGB-D Sensor;Sensor Calibration;Simultaneous Localization and Mapping (SLAM)
語言英文
ISSN1660-9336
期刊性質國外
收錄於EI;
產學合作
通訊作者Yin-Tien Wang
審稿制度
國別瑞士
公開徵稿
出版型式,紙本
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