3D map reconstruction with sensor kinect: Searching for solution applicable to small mobile robots

Author

Beno, Peter ; Duchon, F. ; Tolgyessy, Michal ; Hubinsky, Peter ; Kajan, M.

Author_Institution

Inst. of Robot. & Cybern., Slovak Univ. of Technol., Bratislava, Slovakia

fYear

2014

fDate

3-5 Sept. 2014

Firstpage

1

Lastpage

6

Abstract

Although it is relatively easy to equip mobile robot with Kinect sensor, implementation of mapping algorithm can be non trivial. In this article, we describe sensor device, robot map formats and two main approaches to 3D reconstruction, problem closely connected to SLAM mapping problem with Kinect sensor. We experimentally evaluate reference implementations of both algorithms, compare their results and discuss published and possible improvements of both approaches.

Keywords

SLAM (robots); control engineering computing; image colour analysis; image reconstruction; interactive devices; mobile robots; robot vision; 3D map reconstruction; Kinect sensor; SLAM mapping problem; mobile robots; robot map formats; simultaneous localization and mapping; Cameras; Mobile robots; Robot vision systems; Simultaneous localization and mapping; Three-dimensional displays; Kinect; Kinect Fusion; RGBD-6D-SLAM; SLAM; mapping;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics in Alpe-Adria-Danube Region (RAAD), 2014 23rd International Conference on

Conference_Location

Smolenice

Print_ISBN

978-1-4799-6797-1

Type

conf

DOI

10.1109/RAAD.2014.7002252

Filename

7002252