Experimental verification of a walking robot self - localization system with the kinect sensor

• Autorzy: Nowicki M. , Skrzypczyński P.
• Konferencja: National Conference on Robotics (12, 12-16.2012, Świeradów-Zdrój, Poland)
• Języki publikacji: EN

Abstrakty

EN

In this paper we investigate methods for self-localisation of a walking robot with the Kinect 3D active range sensor. The Iterative Closest Point (ICP) algorithm is considered as the basis for the computation of the robot rotation and translation between two viewpoints. As an alternative, a feature-based method for matching of 3D range data is considered, using the Normal Aligned Radial Feature (NARF) descriptors. Then, it is shown that NARFs can be used to compute a good initial estimate for the ICP algorithm, resulting in convergent estimation of the sensor egomotion. Experimental results are provided.

Słowa kluczowe

EN

3D perception; salient features; iterative closest points; visual odometry; walking robot

• Wydawca: Łukasiewicz Industrial Research Institute for Automation and Measurements PIAP
• Czasopismo: Journal of Automation Mobile Robotics and Intelligent Systems
• Rocznik: 2013
• Tom: Vol. 7, No. 4
• Strony: 42--51
• Opis fizyczny: Bibliogr. 32 poz., rys.

Twórcy

autor

Nowicki M.

• Poznań University of Technology, Institute of Control and Information Engineering, ul. Piotrowo 3A, 60-965 Poznań, Poland

autor

Skrzypczyński P.

• Poznań University of Technology, Institute of Control and Information Engineering, ul. Piotrowo 3A, 60-965 Poznań, Poland

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