占用网格地图生成使用360°扫描xtion pro live室内移动机器人导航

2016 IEEE First International Conference on Control, Measurement and Instrumentation (CMI) Pub Date : 1900-01-01 DOI:10.1109/CMI.2016.7413791

A. S. Kundu, O. Mazumder, Ankit Dhar, S. Bhaumik

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引用次数: 14

摘要

本文的目的是利用扫描深度图像开发非结构化环境的二维占用网格地图，用于全方位机器人平台的导航。Xtion Pro实时深度图像传感器以及基于dynamixel电机的旋转平台已被用于生成全景深度图像，用于创建占用地图。从生成的占用图中，我们可以使用静态和动态导航算法进行自主室内导航。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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Occupancy grid map generation using 360° scanning xtion pro live for indoor mobile robot navigation

Aim of this paper is to develop a 2d occupancy grid map of an unstructured environment using a scanning depth image for navigation of an omni robot platform. Xtion Pro live depth image sensor along with a dynamixel motor based rotating platform has been used to generate panoramic depth image for creating occupancy map. From the generated occupancy map, we can use static and dynamic navigation algorithm for autonomous indoor navigation.

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来源期刊

2016 IEEE First International Conference on Control, Measurement and Instrumentation (CMI)

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