Name
Abstract | ||
|---|---|---|
Obstacle avoidance is a key problem required in the mobile robot navigation technology. In this paper, we build up a 3D environment in an intelligent surveillance robot through registration of point clouds and present a method to deal with the obstacle avoidance problem. Firstly, the framework of the intelligent robot is given. Then we register the point clouds from an RGB-D Kinect by applying an ICP (Iterative Closest Point) algorithm. The online processing is done using the ROS system. Next, we propose an approach to avoid obstacles by projecting 3D data to a plane thus 2D technologies which need less computation can be used. Finally, some experimental results are presented to be valid. |
Year | DOI | Venue |
|---|---|---|
2014 | 10.1109/ROBIO.2014.7090401 | ROBIO |
Keywords | Field | DocType |
rgb-d kinect,mobile robot navigation technology,3d data projection,ros system,2d technologies,computer graphics,mobile robots,control engineering computing,operating systems (computers),iterative closest point algorithm,icp,surveillance,image sensors,real-time obstacle avoidance,robot operating system,intelligent robots,3d point clouds,intelligent surveillance robot,image registration,collision avoidance,online processing,iterative methods,3d environment,point clouds registration,robot vision,image colour analysis,robot kinematics | Obstacle avoidance,Robot control,Computer vision,Robot calibration,Computer science,Robot kinematics,Artificial intelligence,Mobile robot navigation,Robot,Mobile robot,Iterative closest point | Conference |
Citations | PageRank | References |
1 | 0.36 | 12 |
Authors | ||
5 | ||
Name | Order | Citations | PageRank |
|---|---|---|---|
| Yiqun Fu | 1 | 14 | 1.43 |
| Guolai Jiang | 2 | 31 | 3.55 |
| Wei Feng | 3 | 19 | 7.72 |
| Yimin Zhou | 4 | 87 | 15.04 |
| Yongsheng Ou | 5 | 243 | 42.32 |