Autonomous exploration has received a large attention in robotic community. Recently, the low cost RGB-D sensor Microsoft Kinect has got more and more applications in mapping and localization, since it can provide abundant depth environment information in real time. However, the robot equipped only with Kinect sensor for autonomous navigation will face safety problems in complex scenarios. In this paper, we analyze the Kinect limitations and propose a system setup equipped with both Kinect and laser range finder in order to achieve a safety navigation in dynamic indoor environments. The Kinect is used for global navigation planning including target finding, best target choosing and path planning, while the laser performs local obstacle avoidance. The performances of map building and autonomous exploration are evaluated for two robotic platforms in lab environments to validate the proposed approach.

Autonomous Exploration Using Kinect and Laser Range Finder / J., Du; Indri, Marina; D., Dresscher; S., Stramigioli. - STAMPA. - 7429:(2012), pp. 420-421. ((Intervento presentato al convegno 13th Annual Conference on Towards Autonomous Robotic Systems, TAROS 2012 and 15th Annual FIRA RoboWorld Congress tenutosi a Bristol (UK) nel 20-23 August 2012 [10.1007/978-3-642-32527-4].

Autonomous Exploration Using Kinect and Laser Range Finder

INDRI, Marina;
2012

Abstract

Autonomous exploration has received a large attention in robotic community. Recently, the low cost RGB-D sensor Microsoft Kinect has got more and more applications in mapping and localization, since it can provide abundant depth environment information in real time. However, the robot equipped only with Kinect sensor for autonomous navigation will face safety problems in complex scenarios. In this paper, we analyze the Kinect limitations and propose a system setup equipped with both Kinect and laser range finder in order to achieve a safety navigation in dynamic indoor environments. The Kinect is used for global navigation planning including target finding, best target choosing and path planning, while the laser performs local obstacle avoidance. The performances of map building and autonomous exploration are evaluated for two robotic platforms in lab environments to validate the proposed approach.
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Utilizza questo identificativo per citare o creare un link a questo documento: http://hdl.handle.net/11583/2502684
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