RGB-D sensor based mobile robot SLAM in indoor environment

Author

Lyu Qiang ; Liu Feng ; Wang Xiaolong ; Wang Guosheng

Author_Institution

Dept. of Control Eng., Acad. of Armored Force Eng., Beijing, China

fYear

2014

fDate

May 31 2014-June 2 2014

Firstpage

3848

Lastpage

3852

Abstract

A simultaneous localization and mapping (SLAM) approach based on RGB-D sensor in indoor environment is presented in this paper. The S-NARF feature of point cloud was extracted, and then used for point cloud registration. In particular, a semi-random search strategy is proposed for the loop closures detection. The poses estimation was optimized under the g²o framework. The experiments demonstrate that the approach can effectively solve SLAM problem in indoor environment and the poses estimation have met the demand for precision.

Keywords

SLAM (robots); feature extraction; image registration; image sensors; mobile robots; pose estimation; robot vision; search problems; RGB-D sensor; S-NARF feature extraction; g²o framework; indoor environment; loop closures detection; mobile robot SLAM; point cloud registration; pose estimation; red-green-blue-depth sensor; semi-random search strategy; simultaneous localization and mapping; Estimation; Feature extraction; Indoor environments; Simultaneous localization and mapping; Three-dimensional displays; Loop Closure; RGB-D Sensor; SLAM; Semi-Random Search;

fLanguage

English

Publisher

ieee

Conference_Titel

Control and Decision Conference (2014 CCDC), The 26th Chinese

Conference_Location

Changsha

Print_ISBN

978-1-4799-3707-3

Type

conf

DOI

10.1109/CCDC.2014.6852851

Filename

6852851