• 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