RGB-D 室内导航 paper
摘要:
最近打算使用Kinect实现机器人的室内导航,收集了近年来的一些比较好的文章。《基于Kinect系统的场景建模与机器人自主导航》、《Mobile Robots Navigation in Indoor Environments Using Kinect》、《Using a Depth Camera for Indoor Robot Localization and Navigation》、《Depth Camera Based Indoor Mobile Robot Localization and Navigation》、《Using a Depth Camera for Indoor Robot Localization and Navigation》、《Using the Kinect as a Navigation Sensor for Mobile Robotics》。
by Top Liu
最近打算使用Kinect实现机器人的室内导航,收集了近年来的一些比较好的文章。
基于Kinect系统的场景建模与机器人自主导航
下载:http://robot.sia.cn/CN/article/downloadArticleFile.do?attachType=PDF&id=15382
国外文献:
1.Mobile Robots Navigation in Indoor Environments Using Kinect
This paper appears in:
Critical Embedded Systems (CBSEC), 2012 Second Brazilian
没了方便没有IEEE账户的朋友,我已上传到百度文库。下面的文章可直接点击下载
2.Using a Depth Camera for Indoor Robot Localization and Navigation
Abstract—Depth cameras are a rich source of information for
robot indoor localization and safe navigation. The recent availability
of the low-cost Kinect sensor provides a valid alternative
to other available sensors, namely laser-range finders. This
paper presents the first results of the application of a Kinect
sensor on a wheeled indoor service robot for elderly assistance.
The robot makes use of a metric map of the environment’s
walls and uses the depth information of the Kinect camera to
detect the walls and localize itself in the environment. In our
approach an error minimization method is used providing realtime
efficient robot pose estimation. Furthermore, the depth
camera provides information about the obstacles surrounding
the robot, allowing the application of path-finding algorithms
such as D* Lite achieving safe and robust navigation. Using
the proposed solution, we were able to adapt a robotic soccer
robot developed at the University of Aveiro to successfully
navigate in a domestic environment, across different rooms
without colliding with obstacles in the environment.
3.Depth Camera Based Indoor Mobile Robot Localization and Navigation
Abstract—The sheer volume of data generated by depth
cameras provides a challenge to process in real time, in
particular when used for indoor mobile robot localization and
navigation. We introduce the Fast Sampling Plane Filtering
(FSPF) algorithm to reduce the volume of the 3D point cloud
by sampling points from the depth image, and classifying local
grouped sets of points as belonging to planes in 3D (the “plane
filtered” points) or points that do not correspond to planes
within a specified error margin (the “outlier” points). We then
introduce a localization algorithm based on an observation
model that down-projects the plane filtered points on to 2D, and
assigns correspondences for each point to lines in the 2D map.
The full sampled point cloud (consisting of both plane filtered
as well as outlier points) is processed for obstacle avoidance
for autonomous navigation. All our algorithms process only
the depth information, and do not require additional RGB
data. The FSPF, localization and obstacle avoidance algorithms
run in real time at full camera frame rates (30Hz) with low
CPU requirements (16%). We provide experimental results
demonstrating the effectiveness of our approach for indoor
mobile robot localization and navigation. We further compare
the accuracy and robustness in localization using depth cameras
with FSPF vs. alternative approaches that simulate laser
rangefinder scans from the 3D data.
4.Using a Depth Camera for Indoor Robot Localization and Navigation
Abstract—Depth cameras are a rich source of information for
robot indoor localization and safe navigation. The recent availability
of the low-cost Kinect sensor provides a valid alternative
to other available sensors, namely laser-range finders. This
paper presents the first results of the application of a Kinect
sensor on a wheeled indoor service robot for elderly assistance.
The robot makes use of a metric map of the environment’s
walls and uses the depth information of the Kinect camera to
detect the walls and localize itself in the environment. In our
approach an error minimization method is used providing realtime
efficient robot pose estimation. Furthermore, the depth
camera provides information about the obstacles surrounding
the robot, allowing the application of path-finding algorithms
such as D* Lite achieving safe and robust navigation. Using
the proposed solution, we were able to adapt a robotic soccer
robot developed at the University of Aveiro to successfully
navigate in a domestic environment, across different rooms
without colliding with obstacles in the environment.
5.Using the Kinect as a Navigation Sensor for Mobile Robotics
ABSTRACT
Localisation and mapping are the key requirements in mobile
robotics to accomplish navigation. Frequently laser scanners
are used, but they are expensive and only provide 2D mapping
capabilities. In this paper we investigate the suitability
of the Xbox Kinect optical sensor for navigation and simultaneous
localisation and mapping. We present a prototype
which uses the Kinect to capture 3D point cloud data of the
external environment. The data is used in a 3D SLAM to
create 3D models of the environment and localise the robot
in the environment. By projecting the 3D point cloud into
a 2D plane, we then use the Kinect sensor data for a 2D
SLAM algorithm. We compare the performance of Kinectbased
2D and 3D SLAM algorithm with traditional solutions
and show that the use of the Kinect sensor is viable. However,
its smaller field of view and depth range and the higher
processing requirements for the resulting sensor data limit its
range of applications in practice.
Mobile Autonomous Robot using the Kinect
国外一个project
RGB-D 室内导航 paper的更多相关文章
- UE4 Navmesh 室内导航设置
我用的UE版本是4.14.1 系统:win10 64 前不久给样板房里面做了一个扫地机器人,导航设置让我头大了很久,度娘也没有用,最后在谷哥上有所感悟,现在给出本人的设置过程和解决方案. 一开始拖 ...
- Robot Perception for Indoor Navigation《室内导航中的机器人感知》
Felix Endres 论文下载 Technische Fakult¨ atAlbert-Ludwigs-Universit¨ at Freiburg Betreuer: Prof. Dr. Wol ...
- 室内定位系列(一)——WiFi位置指纹(译)
原文:<Advanced Location-Based Technologies and Services>--chapter 2 WiFi Location Fingerprint 作者 ...
- 解答室内定位技术新方向:蓝牙AoA定位,值得了解 ——概念了解
转载搜狐 室内定位一直被炒的非常火的黑科技,也是近年资本追逐的热点,市场上一直有众多宣称可以做到厘米级,米级精度定位的公司,但问题很多,无法大规模商用.近些年有很多人尝试使用蓝牙beacon方式做定位 ...
- 滴滴AR实景导航背后的技术
桔妹导读:机场.商场.火车站等大型室内场所内GPS信号不稳定.室内面积大.路线复杂.用户判断方向难等问题,给在大型场所内发单的乘客找上车点带来了很大的挑战,用户急需一种操作简单.交互友好的引导功能.本 ...
- ROS机器人导航一 : 从英雄联盟到ROS导航
写在前面: 这是这个系列的第一篇 本系列主要从零开始深入探索ROS(机器人操作系统)的导航和规划. 这个系列的目标,是让大家了解: 1.ROS的导航是怎么实现的 2.认识ROS里各种已有的导航算法,清 ...
- LIFI热火下的VLC基本链路、标准及发展问题
和白炽及荧光灯相比,白光发光二极管(LED)具有寿命长.光效高.功耗低.无辐射.安全性好.可靠性高等特点,被称为"绿色照明"并得到迅猛发展.白光LED在未来市场极具竞争力.世界范围 ...
- A Multi-Sensorial Simultaneous Localization and Mapping (SLAM) System for Low-Cost Micro Aerial Vehicles in GPS-Denied Environments
A Multi-Sensorial Simultaneous Localization and Mapping (SLAM) System for Low-Cost Micro Aerial Vehi ...
- [转]综述论文翻译:A Review on Deep Learning Techniques Applied to Semantic Segmentation
近期主要在学习语义分割相关方法,计划将arXiv上的这篇综述好好翻译下,目前已完成了一部分,但仅仅是尊重原文的直译,后续将继续完成剩余的部分,并对文中提及的多个方法给出自己的理解. _论文地址:htt ...
随机推荐
- Virtual Machine Kernel Panic : Not Syncing : VFS : Unable To Mount Root FS On Unknown-Block (0,0)
Virtual Machine Kernel Panic : Not Syncing : VFS : Unable To Mount Root FS On Unknown-Block (0,0) 33 ...
- 关于Spring父容器和SpringMvc子容器
在SSM项目中,会有SpringMvc容器(子容器)和Spring容器(父容器) 一共2个容器 基本规则: 子容器可以访问父容器的bean,父容器不能访问子容器的bean. 当<context: ...
- 如何使用Log4j
如何使用Log4j? 1. Log4j是什么? Log4j可以帮助调试(有时候debug是发挥不了作 用的)和分析,要下载和了解更详细的内容,还是访问其官方网站吧: http://jakarta. ...
- SQL Server 2008中的MERGE(不仅仅是合并)
SQL Server 2008中的MERGE语句能做很多事情,它的功能是根据源表对目标表执行插入.更新或删除操作.最典型的应用就是进行两个表的同步. 下面通过一个简单示例来演示MERGE语句的使用方法 ...
- JS代码判断浏览器类型以及版本
browserVersion:function(){ var explorer = window.navigator.userAgent; if (explorer.indexOf("MSI ...
- gcc 库路径里同时有相同文件名的动态库和静态库
找不到库的处理方案 有两种方法: 一.可以把当前路径加入 /etc/ld.so.conf中然后运行ldconfig,或者以当前路径为参数运行ldconfig(要有root权限才行). 二.把当前路径加 ...
- kbmmw 与extjs 通过JSON Base64 显示图片
delphi 官网上开始也来越多的介绍delphi与extjs 结合的例子,今天我就把官方的例子翻版一下. 官方使用C++builder 和webbroker 实现. 我使用kbmmw 来实现一下. ...
- 虚拟机 与 主机 Ping 中的设置
这段时间是学习华清远见的Linux A8 关于Linux移植,遇到虚拟机与主机Ping不通.经查阅后总结出以下 VM中设置. “虚拟机设置-->硬件--> 网络适配器--> 桥接模式 ...
- Linux 的虚拟文件系统(强烈推荐)
1 引言 Linux 中允许众多不同的文件系统共存,如 ext2, ext3, vfat 等.通过使用同一套文件 I/O 系统 调用即可对 Linux 中的任意文件进行操作而无需考虑其所在的具体文件系 ...
- 下载编译安装Apache HTTP Server 2.4.23以及配置HTTP/HTTPS反向代理
http://blog.csdn.net/gangchengzhong/article/details/52910225 [注意,在编译make时出现的错误并不是文章中说的openssl的版本问题,而 ...