Map Building Based on a Xtion Pro Live RGBD and a Laser Sensors
نویسندگان
چکیده
Mobile robot’s full autonomy widens their range of applicability. In this context, it is essential that a mobile robot is able to construct its own map based on sensors data readings, which are the only means the robot has to interact with its surroundings. Thus, map building, path planning, obstacle avoidance, and control are crucial in achieving full autonomy. Map building shall be carried out based on fusion of sensory information and uncertainty is one of the problems when dealing with sensor data readings. Therefore, it shall to be taken into account by the use of probabilistic sensor models.
منابع مشابه
A Comparative Study of Structured Light and Laser Range Finding Devices
This is a survey of the resolution of data gathered by different 3D-imaging devices. The sensors covered in this paper consist of the Asus Xtion Pro Live [1], Microsoft Kinect [2], Microsoft Kinect with Nyko Zoom Lens [3], and Hokuyo URG04LX Laser Range Finder [4]. The results of this survey suggest that the Asus and Kinect (both with and without the Zoom Lens) possess similar capabilities, and...
متن کاملUnsupervised Intrinsic Calibration of Depth Sensors via SLAM
We present a new, generic approach to the calibration of depth sensor intrinsics that requires only the ability to run SLAM. In particular, no specialized hardware, calibration target, or hand measurement is required. Essential to this approach is the idea that certain intrinsic parameters, identified here as myopic, govern distortions that increase with range. We demonstrate these ideas on the...
متن کاملIR Stereo Kinect: Improving Depth Images by Combining Structured Light with IR Stereo
RGB-D sensors such as the Microsoft Kinect or the Asus Xtion are inexpensive 3D sensors. A depth image is computed by calculating the distortion of a known infrared light (IR) pattern which is projected into the scene. While these sensors are great devices they have some limitations. The distance they can measure is limited and they suffer from reflection problems on transparent, shiny, or very...
متن کاملA Comparison of 3D Sensors for Wheeled Mobile Robots
3D Sensors are used for many different applications, e.g. scene reconstruction, object detection and mobile robots, etc. Several studies on usability and accuracy have been done for different sensors. However, all these studies have used different settings for the different sensors. For this reason we compare five 3D sensors, including the structured light sensors Microsoft Kinect and ASUS Xtio...
متن کاملMap-merging in Multi-robot Simultaneous Localization and Mapping Process Using Two Heterogeneous Ground Robots
In this article, a fast and reliable map-merging algorithm is proposed to produce a global two dimensional map of an indoor environment in a multi-robot simultaneous localization and mapping (SLAM) process. In SLAM process, to find its way in this environment, a robot should be able to determine its position relative to a map formed from its observations. To solve this complex problem, simultan...
متن کامل