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:Robot Simultaneous Localization and Mapping Using a Calibrated Kinect Sensor
學年102
學期2
出版(發表)日期2014/06/01
作品名稱Robot Simultaneous Localization and Mapping Using a Calibrated Kinect Sensor
作品名稱(其他語言)
著者Chen-Tung Chi; Yin-Tien Wang; Shao-Ting Cheng; Chin-An Shen
單位機械與機電工程學系暨研究所
出版者MYU K.K., Japan
著錄名稱、卷期、頁數Sensors and Materials, 26(5), pp.353-364
摘要In this paper, we present an algorithm for robot simultaneous localization and mapping (SLAM) using a Kinect sensor, which is a red-green-blue and depth (RGB-D) sensor. The distortions of the RGB and depth images are calibrated before the sensor is used as a measuring device for robot navigation. The calibration procedure includes the correction of the RGB image as well as alignment of the RGB lens with the depth lens. In SLAM tasks, the speeded-up robust features (SURFs) are detected from the RGB image and used as landmarks for building the environment map. The depth image further provides the stereo information to initialize the three-dimensional coordinates of each landmark. Meanwhile, the robot estimates its own state and landmark locations using the extended Kalman filter (EKF). Two SLAM experiments have been carried out in this study and the results showed that the Kinect sensors could provide reliable measurement information for mobile robots navigating in unknown environments.
關鍵字RGB-D sensor;sensor calibration;simultaneous localization and mapping(SLAM);visual mapping
語言英文
ISSN0914-4935
期刊性質國外
收錄於SCI;EI;
產學合作
通訊作者Yin-Tien Wang
審稿制度
國別日本
公開徵稿
出版型式,電子版,紙本
相關連結
Google+ 推薦功能,讓全世界都能看到您的推薦!