传感器kinect三维地图重建:寻找适用于小型移动机器人的解决方案

2014 23rd International Conference on Robotics in Alpe-Adria-Danube Region (RAAD) Pub Date : 2014-09-01 DOI:10.1109/RAAD.2014.7002252

Peter Beno, F. Duchoň, Michal Tölgyessy, P. Hubinský, M. Kajan

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引用次数: 11

摘要

虽然为移动机器人配备Kinect传感器相对容易，但映射算法的实现却并非易事。在本文中，我们描述了传感器设备、机器人地图格式和两种主要的3D重建方法，这些问题与Kinect传感器的SLAM映射问题密切相关。我们通过实验评估了两种算法的参考实现，比较了它们的结果，并讨论了两种方法已发表的和可能的改进。

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

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.

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

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