Localization and 3D polygon map building method with kinect depth sensor for indoor mobile robots키넥트 거리센서를 이용한 실내 이동로봇의 위치인식 및3 차원 다각평면 지도 작성

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We suggest an efficient Simultaneous Localization and 3D Polygon Map Building (SLAM) method with Kinect depth sensor for mobile robots in indoor environments. In this method, Kinect depth data is separated into row planes so that scan line segments are on each row plane. After grouping all scan line segments from all row planes into line groups, a set of 3D Scan polygons are fitted from each line group. A map matching algorithm then figures out pairs of scan polygons and existing map polygons in 3D, and localization is performed to record correct pose of the mobile robot. For 3D map-building, each 3D map polygon is created or updated by merging each matched 3D scan polygon, which considers scan and map edges efficiently. The validity of the proposed 3D SLAM algorithm is revealed via experiments.
Publisher
Institute of Control, Robotics and Systems
Issue Date
2016
Language
Korean
Citation

Journal of Institute of Control, Robotics and Systems, v.22, no.9, pp.745 - 752

ISSN
1976-5622
DOI
10.5302/J.ICROS.2016.16.0018
URI
http://hdl.handle.net/10203/213727
Appears in Collection
EE-Journal Papers(저널논문)
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