English  |  正體中文  |  简体中文  |  全文笔数/总笔数 : 63184/95884 (66%)
造访人次 : 4547821      在线人数 : 275
RC Version 7.0 © Powered By DSPACE, MIT. Enhanced by NTU Library & TKU Library IR team.
搜寻范围 查询小技巧:
  • 您可在西文检索词汇前后加上"双引号",以获取较精准的检索结果
  • 若欲以作者姓名搜寻,建议至进阶搜寻限定作者字段,可获得较完整数据
  • 进阶搜寻

    jsp.display-item.identifier=請使用永久網址來引用或連結此文件: https://tkuir.lib.tku.edu.tw/dspace/handle/987654321/101066

    题名: Calibrated Kinect Sensors for Robot Simultaneous Localization and Mapping
    作者: Wang, Yin-Tien;Shen, Chin-An;Yang, Jr-Syu
    贡献者: 淡江大學機械與機電工程學系
    日期: 2014-09
    上传时间: 2015-03-26 15:57:09 (UTC+8)
    摘要: 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 estimates its own state and landmark locations using the extended Kalman filter (EKF). Two SLAM experiments have been carried out in this study and the results showed that the Kinect sensors could provide reliable measurement information for mobile robots navigating in unknown environments.
    關聯: IEEE pp.560-565
    显示于类别:[機械與機電工程學系暨研究所] 會議論文


    档案 描述 大小格式浏览次数



    DSpace Software Copyright © 2002-2004  MIT &  Hewlett-Packard  /   Enhanced by   NTU Library & TKU Library IR teams. Copyright ©   - 回馈