文章基本信息

标题：A Set of Depth Sensor Processing ROS Tools for Wheeled Mobile Robot Navigation
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作者：Michał Drwięga ; Janusz Jakubiak
期刊名称：Journal of Automation, Mobile Robotics & Intelligent Systems (JAMRIS)
印刷版ISSN：1897-8649
电子版ISSN：2080-2145
出版年度：2017
卷号：11
期号：2
页码：48
DOI：10.14313/JAMRIS_2-2017/16
出版社：Industrial Research Inst. for Automation and Measurements, Warsaw
摘要：The paper presents a set of so􀅌ware tools dedicated tosupport mobile robot naviga􀆟on. The tools are used toprocess an image from a depth sensor. They are implementedin ROS framework and they are compa􀆟ble withstandard ROS naviga􀆟on packages. The so􀅌ware is releasedwith an open source licence. First of the tools convertsa 3D depth image to a 2D scan in polar coordinates. Itprovides projec􀆟on of the obstacles, removes the groundplane from the image and compensates sensor 􀆟lt angle.The node is faster than the standard node within ROSand it has addi􀆟onal func􀆟ons increasing range of possibleapplica􀆟ons. The second tool allows detec􀆟on of nega􀆟ve obstacles i.e. located below the ground plane level.The third tool es􀆟mates height and orienta􀆟on ofthe sensor with RANSAC algorithm applied to the depthimage. The paper presents also the results of usage of thetools with mobile pla􀆞orms equipped with Microso􀅌 Kinectsensors. The pla􀆞orms are elements of the ReMeDiproject within which the so􀅌ware was developed.
关键词：RGB-D; Kinect; mobile robot; ROS; depth sensor;naviga􀆟on tools