The KCLBOT: Exploiting RGB-D Sensor Inputs for Navigation Environment Building and Mobile Robot Localization

The KCLBOT: Exploiting RGB-D Sensor Inputs for Navigation Environment Building and Mobile Robot Localization

Blog Article

This paper presents an alternative approach to implementing a stereo camera configuration for SLAM.The approach suggested implements a simplified method using a single RGB-D camera sensor mounted on a maneuverable non-holonomic mobile robot, the KCLBOT, used for extracting image feature depth information while maneuvering.Using Lip Treatments a defined quadratic equation, based on the calibration of the camera, a depth computation model is derived base on the HSV color space map.Using this methodology it is possible to build navigation environment maps and carry Deck Wheels out autonomous mobile robot path following and obstacle avoidance.

This paper presents a calculation model which enables the distance estimation using the RGB-D sensor from Microsoft.NET micro framework device.Experimental results are presented to validate the distance estimation methodology.