DocumentCode :
1662718
Title :
Experimental comparison of 3D vision sensors for mobile robot localization for industrial application: Stereo-camera and RGB-D sensor
Author :
Sabattini, Lorenzo ; Levratti, Alessio ; Venturi, F. ; Amplo, E. ; Fantuzzi, Cesare ; Secchi, Cristian
Author_Institution :
Dept. of Eng. Sci. & Methods, Univ. of Modena & Reggio Emilia, Modena, Italy
fYear :
2012
Firstpage :
823
Lastpage :
828
Abstract :
While RGB-D sensors are becoming more and more popular in mobile robotics laboratories, they are usually not yet adopted for industrial applications. In fact, in this field, depth measurements are generally acquired by means of laser scanners and, when visual information is needed, by means of stereo-cameras. The aim of this paper is to perform an experimental validation, to compare the performance of a stereo-camera and an RGB-D sensor, in a specific application: mobile robot localization for industrial applications. Experiments are performed exploiting artificial landmarks (defined by a self-similar pattern), placed in known positions in the environment.
Keywords :
cameras; image colour analysis; image sensors; industrial robots; mobile robots; path planning; robot vision; spatial variables measurement; stereo image processing; 3D vision sensors; RGB-D sensor; artificial landmarks; depth measurements; experimental comparison; experimental validation; industrial application; laser scanners; mobile robot localization; mobile robotics laboratories; stereo camera; visual information; Covariance matrices; Mobile robots; Position measurement; Robot sensing systems; Sensor phenomena and characterization;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Control Automation Robotics & Vision (ICARCV), 2012 12th International Conference on
Conference_Location :
Guangzhou
Print_ISBN :
978-1-4673-1871-6
Electronic_ISBN :
978-1-4673-1870-9
Type :
conf
DOI :
10.1109/ICARCV.2012.6485264
Filename :
6485264
Link To Document :
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