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Alternative TitleFusion of Dual RGB-D Sensors for Mobile Robot SLAM
王石荣; 徐昌; 于宁波
Conference Name36th Chinese Control Conference
Conference DateJuly 26-28, 2017
Conference PlaceDalian, China
Author of Source中国自动化学会控制理论专业委员会
Source PublicationProceedings of the 36th Chinese Control Conference
Contribution Rank3
Keyword双rgb-d 移动机器人 Slam 数据融合 点云地图构建 全景图
Other AbstractMobile robots need sensors to perceive environment information for map construction, self-localization and motion control. RGB-D sensors provide an economic solution to acquire color and depth information of the environment, and have received wide interest in recent years. Nevertheless, the small angle of view restricts its application. In this paper, we propose a method to fuse the data from two RGB-D sensors, so that the angle of view can be extended. Data streams from the two RGB-D sensors are synchronized, the point cloud map is constructed in real-time, and the environment panorama is built up online with the fused multi-view RGB information. The proposed method has been validated through SLAM and motion control tasks of the mobile robot in indoor environment. Experimental results showed preferable capabilities of point cloud map construction and self-localization, good autonomous motion control and successful obstacle avoidance. Meanwhile, the built panorama provided detailed environment information with visual telepresence. Therefore, the proposed method promises effective potentials to promote further applications of RGB-D sensors and mobile robots.
Document Type会议论文
Corresponding Author王石荣
Recommended Citation
GB/T 7714
王石荣,徐昌,于宁波. 面向移动机器人SLAM的双RGB-D传感器数据融合方法与应用[C]//中国自动化学会控制理论专业委员会,2017:6863-6868.
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