期刊論文
| 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 | en |
| ISSN | 1660-9336 |
| 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 | 是 |
| 國別 | CHE |
| 公開徵稿 | |
| 出版型式 | ,紙本 |
| 相關連結 |
機構典藏連結 ( http://tkuir.lib.tku.edu.tw:8080/dspace/handle/987654321/98329 ) |