Name
Abstract | ||
|---|---|---|
Crossing a door is usually a necessary action for autonomous patrol of an indoor surveillance robot. However, it is difficult for a large robot to cross narrow doors. In this paper, a method for detecting, locating and crossing a door for an indoor surveillance robot with Kinect is presented. Firstly, doors are detected and located based on RGB-D data collected form Kinect. Then, the conversion between robot coordinate system and world coordinate system is discussed. Thirdly, a nonlinear adaptive controller is designed for the robot to move perpendicularly through the door. Experiments were taken on a surveillance robot and the results illustrated the effectiveness of this method. |
Year | DOI | Venue |
|---|---|---|
2013 | 10.1109/ROBIO.2013.6739719 | ROBIO |
Keywords | Field | DocType |
world coordinate system,nonlinear control,rgb-d data,door crossing,control system synthesis,nonlinear adaptive controller design,red-green-blue-depth data,autonomous patrol,wide indoor surveillance robot,door detection,image sensors,adaptive control,nonlinear control systems,robot coordinate system,narrow doors,path planning,object detection,door location,robot,indoor navigation,kinect,robot vision | Motion planning,Robot control,Computer vision,Object detection,Control theory,Artificial intelligence,Mobile robot navigation,Engineering,Robot,Mobile robot,Doors | Conference |
Citations | PageRank | References |
1 | 0.36 | 0 |
Authors | ||
7 | ||
Name | Order | Citations | PageRank |
|---|---|---|---|
| Dawei Dai | 1 | 6 | 4.82 |
| Guolai Jiang | 2 | 31 | 3.55 |
| Junbo Xin | 3 | 1 | 0.36 |
| Xiang Gao | 4 | 101 | 19.26 |
| Liangliang Cui | 5 | 3 | 0.79 |
| Yongsheng Ou | 6 | 243 | 42.32 |
| Guoqiang Fu | 7 | 30 | 29.70 |