Robot Simultaneous Localization and Mapping Using a Calibrated RGB-D Sensor

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题名:	Robot Simultaneous Localization and Mapping Using a Calibrated RGB-D Sensor
作者:	Chi, C.-T.;Y.T. Wang=王銀添;S.-T. Cheng;C.-A. Shen
贡献者:	機械與機電工程學系暨研究所
关键词:	RGB-D sensor, sensor calibration, simultaneous localization and mapping (SLAM), visual mapping
日期:	2014-06-01
上传时间:	2014-07-18 11:47:39 (UTC+8)
出版者:	MYU K.K., Japan
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:	Sensors and Materials, 26(5), pp.353-364.
显示于类别:	[機械與機電工程學系暨研究所] 期刊論文

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