DocumentCode
2736576
Title
Map building with RGB-D camera for mobil robot
Author
Somlyai, László ; Vámossy, Zoltán
Author_Institution
Doctoral Sch. of Appl. Inf., Obuda Univ., Budapest, Hungary
fYear
2012
fDate
13-15 June 2012
Firstpage
489
Lastpage
493
Abstract
The paper deals with the issues of the autonomous navigation of mobile robots. Nowadays several automatic operated vehicles, robots are used widely from the industry (storage system) to the everyday use (automatic parking system). The paper deals with the realization of a smaller sized robot vehicle which is capable for autonomous navigation. Within this framework we describe the realization of the vehicle, the developed board computer for navigation and the possible sensors as well. At the beginning of the paper some developments are presented which also dealt with the autonomous navigation of robots and mapping their environment. In knowledge of these works we started to develop our robot system. In a former paper we presented our robot vehicle and an early navigation algorithm. In the current paper it is summarized which sensors can detect the environment and the localization of the vehicle. The paper presents our experimental results about the accuracy of the Kinect sensor in more details.
Keywords
cameras; mobile robots; navigation; path planning; Kinect sensor; RGB-D camera; automatic operated vehicles; automatic parking system; autonomous navigation algorithm; board computer; map building; mobile robot system; smaller sized robot vehicle; vehicle localization; Accuracy; Cameras; Robot sensing systems; Sensor systems; Vehicles;
fLanguage
English
Publisher
ieee
Conference_Titel
Intelligent Engineering Systems (INES), 2012 IEEE 16th International Conference on
Conference_Location
Lisbon
Print_ISBN
978-1-4673-2694-0
Electronic_ISBN
978-1-4673-2693-3
Type
conf
DOI
10.1109/INES.2012.6249883
Filename
6249883
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