Abstract:
The work presented in this article is a part of a project on autonomous navigation of a mobile robot: case guide robot. It involves the study and development of a localiz...Show MoreMetadata
Abstract:
The work presented in this article is a part of a project on autonomous navigation of a mobile robot: case guide robot. It involves the study and development of a localization and 3D mapping algorithm for a mobile robot using RGB-D camera (Kinect sensor). The Kinect sensor allows the acquisition of color image with the depth of each pixel which makes the 3D construction and texture mapping easier. Two algorithms of visual odometry based Kinect using ICP-VSLAM and ICP-VSLAM-Key implemented and validated in indoor environment. This approach is based by using Kinect sensor embedded on the mobile robot B21R. The first algorithm uses all the images acquired for the location of the robot and the construction of its environment map, whereas the second, which uses the minimum number of images, which ensures a sufficient overlap between the images to avoid cumulative Error at each iteration.
Date of Conference: 07-09 May 2017
Date Added to IEEE Xplore: 26 June 2017
ISBN Information:
Electronic ISSN: 2379-0067