關鍵字查詢 | 類別:會議論文 | | 關鍵字:Calibrated Kinect Sensors for Robot Simultaneous Localization and Mapping

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1 103/1 機電系 王銀添 教授 會議論文 發佈 Calibrated Kinect Sensors for Robot Simultaneous Localization and Mapping , [103-1] :Calibrated Kinect Sensors for Robot Simultaneous Localization and Mapping會議論文Calibrated Kinect Sensors for Robot Simultaneous Localization and MappingWang, Yin-Tien; Shen, C.-A.; Yang, J.-S.淡江大學機械與機電工程學系2014 19th International Conference On Methods and Models in automation and Robotics (MMAR)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
2 103/1 機電系 王銀添 教授 會議論文 發佈 Calibrated Kinect Sensors for Robot Simultaneous Localization and Mapping , [103-1] :Calibrated Kinect Sensors for Robot Simultaneous Localization and Mapping期刊論文Calibrated Kinect Sensors for Robot Simultaneous Localization and MappingWang, Yin-Tien; Shen, Chin-An; Yang, Jr-Syu淡江大學機械與機電工程學系pp.560-565In 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 fil
3 103/1 機電系 楊智旭 副教授 會議論文 發佈 Calibrated Kinect Sensors for Robot Simultaneous Localization and Mapping , [103-1] :Calibrated Kinect Sensors for Robot Simultaneous Localization and Mapping期刊論文Calibrated Kinect Sensors for Robot Simultaneous Localization and MappingWang, Yin-Tien; Shen, Chin-An; Yang, Jr-Syu淡江大學機械與機電工程學系pp.560-565In 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 fil
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