文章基本信息

标题：The KCLBOT: Exploiting RGB-D Sensor Inputs for Navigation Environment Building and Mobile Robot Localization
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作者：Evangelos Georgiou ; Jian Dai ; Michael Luck 等
期刊名称：International Journal of Advanced Robotic Systems
印刷版ISSN：1729-8806
电子版ISSN：1729-8814
出版年度：2011
卷号：8
DOI：10.5772/45706
语种：English
出版社：SAGE Publications
摘要：This paper presents an alternative approach to implementing a stereo camera configuration for SLAM. The approach suggested implements a simplified method using a single RGB-D camera sensor mounted on a maneuverable non-holonomic mobile robot, the KCLBOT, used for extracting image feature depth information while maneuvering. Using a defined quadratic equation, based on the calibration of the camera, a depth computation model is derived base on the HSV color space map. Using this methodology it is possible to build navigation environment maps and carry out autonomous mobile robot path following and obstacle avoidance. This paper presents a calculation model which enables the distance estimation using the RGB-D sensor from Microsoft.NET micro framework device. Experimental results are presented to validate the distance estimation methodology.
关键词：Mobile Robot; Nonholonomic; RGB-D Sensors; Self-localization; SLAM