Robot Simultaneous Localization and Mapping Using a Calibrated Kinect Sensor
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
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