期刊論文
| 學年 | 102 |
|---|---|
| 學期 | 2 |
| 出版（發表）日期 | 2014-06-01 |
| 作品名稱 | Robot Simultaneous Localization and Mapping Using a Calibrated Kinect Sensor |
| 作品名稱（其他語言） | |
| 著者 | Chen-Tung Chi; Yin-Tien Wang; Shao-Ting Cheng; Chin-An Shen |
| 單位 | 機械與機電工程學系暨研究所 |
| 出版者 | MYU K.K., Japan |
| 著錄名稱、卷期、頁數 | Sensors and Materials, 26(5), pp.353-364 |
| 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. |
| 關鍵字 | RGB-D sensor;sensor calibration;simultaneous localization and mapping(SLAM);visual mapping |
| 語言 | en |
| ISSN | 0914-4935 |
| 期刊性質 | 國外 |
| 收錄於 | SCI EI |
| 產學合作 | |
| 通訊作者 | Yin-Tien Wang |
| 審稿制度 | 是 |
| 國別 | JPN |
| 公開徵稿 | |
| 出版型式 | ,電子版,紙本 |
| 相關連結 |
機構典藏連結 ( http://tkuir.lib.tku.edu.tw:8080/dspace/handle/987654321/98332 ) |