Final Report for Study of Simultaneous Localization and Mapping ( SLAM ) Using the Kinect Sensor
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منابع مشابه
Map-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...
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This paper presents an approach to 6-DOF simultaneous localization and mapping (SLAM) particularly suited for collision avoidance in visually guided robotic manipulation tasks in dynamic or unknown environments. We exploit the properties of novel RGB-D sensors such as the Microsoft Kinect to build highly accurate voxel maps.
متن کاملPerformance Analysis of the Microsoft Kinect Sensor for 2D Simultaneous Localization and Mapping (SLAM) Techniques
This paper presents a performance analysis of two open-source, laser scanner-based Simultaneous Localization and Mapping (SLAM) techniques (i.e., Gmapping and Hector SLAM) using a Microsoft Kinect to replace the laser sensor. Furthermore, the paper proposes a new system integration approach whereby a Linux virtual machine is used to run the open source SLAM algorithms. The experiments were cond...
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Even when simultaneous localization and mapping (SLAM) solutions have been broadly developed, the vast majority of them relate to a single robot performing measurements in static environments. Researches show that the performance of SLAM algorithms deteriorates under dynamic environments. In this paper, a multi-robot simultaneous localization and mapping (MR-SLAM) system is implemented within a...
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The Visually Aided Simultaneous Localisation and Mapping (VA-SLAM) system provides an on-line 3-D SLAM solution capable of running in different illumination conditions, including complete darkness, using only a Kinect sensor. Visual techniques are used, only when sufficient lighting is available, to improve pose estimations which rely on an octree-based ICP variation. The system is implemented ...
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