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RGBD mapping solution for low-cost robot

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Abstract

This paper is focused on the proposal and verification of the RGBD mapping system for a small, low-cost mobile robot. The solution's requested properties were easy to replicate and easy to extend for further development on commonly available personal computers. The proposed solution is based on a Kinect sensor. Furthermore, 14 feature detectors were evaluated, and an ORB detector was chosen for the final implementation. In the image, pre-processing CLAHE filter was applied. Post-processing used the modification of the RANSAC method. The final solution proves a globally consistent SLAM based on an RGBD sensor. The article also presents research, which suggests a parallelization scheme of the computational process using a multi-core CPU to achieve real-time processing.

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Acknowledgements

This research was supported by the projects VEGA 1/0775/20, APVV-17-0214, and VEGA 1/0754/19.

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  1. Slovak University of Technology, Vazovova 5, 812 43, Bratislava, Slovakia

    Peter Beňo, František Duchoň, Peter Hubinský, Martin Dekan, Michal Tölgyessy & Michal Dobiš

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  1. Peter Beňo
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  2. František Duchoň
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  3. Peter Hubinský
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  5. Michal Tölgyessy
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Correspondence to Peter Beňo.

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Beňo, P., Duchoň, F., Hubinský, P. et al. RGBD mapping solution for low-cost robot. Machine Vision and Applications 33, 21 (2022). https://doi.org/10.1007/s00138-022-01275-0

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