An integrated 3D mapping approach based on RGB-D for a multi-robot system

Author

Chienchou Lin ; Wunjhih Luo ; Chiachen Lin

Author_Institution

Dept. of Comput. Sci. & Inf. Eng., Nat. Yunlin Univ. & Technol., Douliou, Taiwan

fYear

2014

fDate

13-15 Dec. 2014

Firstpage

143

Lastpage

146

Abstract

This paper implements an multi-robot mapping approach based on Robot Operating System (ROS). The proposed system has Multi-robot Simultaneous Localization and Mapping Subsystem (MSLM), Integrated Map Subsystem (IMS) and Human-computer interaction (HCI) subsystem. MSLM is responsible for receiving user commands into robot motion control signals and individually controlling two robots to move and SLAM. The MSLM subsystem localizes object and scenes by mapping object and scenes model and then extracts features information. HCI not only provides an easy way for users to view 2D and 3D maps but provides a control interface to move the robots to specified location without any guiding.

Keywords

SLAM (robots); human computer interaction; image colour analysis; mobile robots; motion control; multi-robot systems; robot vision; 2D maps; 3D maps; HCI subsystem; IMS; MSLM subsystem; RGB-D; ROS; SLAM; control interface; feature information extraction; human-computer interaction subsystem; integrated 3D mapping approach; integrated map subsystem; multirobot simultaneous localization-and-mapping subsystem; object localization; object mapping; robot motion control signals; robot operating system; scene model; user commands; Databases; Feature extraction; Servers; Simultaneous localization and mapping; Three-dimensional displays;

fLanguage

English

Publisher

ieee

Conference_Titel

System Integration (SII), 2014 IEEE/SICE International Symposium on

Conference_Location

Tokyo

Print_ISBN

978-1-4799-6942-5

Type

conf

DOI

10.1109/SII.2014.7028027

Filename

7028027