Title :
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
fDate :
May 31 2014-June 2 2014
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;
Conference_Titel :
Control and Decision Conference (2014 CCDC), The 26th Chinese
Conference_Location :
Changsha
Print_ISBN :
978-1-4799-3707-3
DOI :
10.1109/CCDC.2014.6852851
