教師資料查詢 | 類別: 會議論文 | 教師: 楊智旭 YANG JR-SYU (瀏覽個人網頁)

標題:Calibrated Kinect Sensors for Robot Simultaneous Localization and Mapping
學年103
學期1
發表日期2014/09/02
作品名稱Calibrated Kinect Sensors for Robot Simultaneous Localization and Mapping
作品名稱(其他語言)
著者Wang, Yin-Tien; Shen, Chin-An; Yang, Jr-Syu
作品所屬單位淡江大學機械與機電工程學系
出版者
會議名稱2014 19th International Conference On Methods and Models in Automation and Robotics (MMAR)
會議地點Miedzyzdroje
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
語言英文
收錄於
會議性質國際
校內研討會地點
研討會時間20140902~20140905
通訊作者
國別波蘭
公開徵稿Y
出版型式紙本
出處pp.560-565
相關連結
SDGs
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