English  |  正體中文  |  简体中文  |  Items with full text/Total items : 58017/91564 (63%)
Visitors : 13713064      Online Users : 45
RC Version 7.0 © Powered By DSPACE, MIT. Enhanced by NTU Library & TKU Library IR team.
Scope Tips:
  • please add "double quotation mark" for query phrases to get precise results
  • please goto advance search for comprehansive author search
  • Adv. Search
    HomeLoginUploadHelpAboutAdminister Goto mobile version
    Please use this identifier to cite or link to this item: http://tkuir.lib.tku.edu.tw:8080/dspace/handle/987654321/98332


    Title: Robot Simultaneous Localization and Mapping Using a Calibrated RGB-D Sensor
    Authors: Chi, C.-T.;Y.T. Wang=王銀添;S.-T. Cheng;C.-A. Shen
    Contributors: 機械與機電工程學系暨研究所
    Keywords: RGB-D sensor, sensor calibration, simultaneous localization and mapping (SLAM), visual mapping
    Date: 2014-06-01
    Issue Date: 2014-07-18 11:47:39 (UTC+8)
    Publisher: MYU K.K., Japan
    Abstract: 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.
    Relation: Sensors and Materials, 26(5), pp.353-364.
    Appears in Collections:[Graduate Institute & Department of Mechanical and Electro-Mechanical Engineering] Journal Article

    Files in This Item:

    File Description SizeFormat
    SM26-5-18-SS-990-pp353-364.pdf2069KbAdobe PDF152View/Open

    All items in 機構典藏 are protected by copyright, with all rights reserved.


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