English  |  正體中文  |  简体中文  |  全文筆數/總筆數 : 58286/91808 (63%)
造訪人次 : 13826631      線上人數 : 80
RC Version 7.0 © Powered By DSPACE, MIT. Enhanced by NTU Library & TKU Library IR team.
搜尋範圍 查詢小技巧:
  • 您可在西文檢索詞彙前後加上"雙引號",以獲取較精準的檢索結果
  • 若欲以作者姓名搜尋,建議至進階搜尋限定作者欄位,可獲得較完整資料
  • 進階搜尋
    請使用永久網址來引用或連結此文件: http://tkuir.lib.tku.edu.tw:8080/dspace/handle/987654321/103247

    題名: Calibrated Kinect Sensors for Robot Simultaneous Localization and Mapping
    作者: Wang, Yin-Tien;Shen, C.-A.;Yang, J.-S.
    貢獻者: 淡江大學機械與機電工程學系
    日期: 2014-09-02
    上傳時間: 2015-06-02 11:16:16 (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: 2014 19th International Conference On Methods and Models in automation and Robotics (MMAR)
    DOI: 10.1109/MMAR.2014.6957415
    顯示於類別:[機械與機電工程學系暨研究所] 會議論文


    檔案 描述 大小格式瀏覽次數



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