Eventos Anais de eventos
COBEM 2017
24th ABCM International Congress of Mechanical Engineering
Simultaneous Localization and Mapping of a Mobile Robot using a Kinect v2 Sensor in Indoor Environments
Submission Author:
João Carlos Virgolino Soares , RJ
Co-Authors:
João Carlos Virgolino Soares, Marco Antonio Meggiolaro
Presenter: João Carlos Virgolino Soares
doi://10.26678/ABCM.COBEM2017.COB17-0296
Abstract
This paper presents the development and implementation of a 3D-SLAM System for indoor applications in a commercial differential drive mobile robot equipped with a RGB-D time-of-flight sensor. A visual odometry approach is used to estimate the pose of the robot in a global coordinate system and, simultaneously, a Point Cloud Map is generated with the depth and color information from the sensor. A Graph Optimization based on Maximum Likelihood Estimation is used to reduce the errors accumulated in the visual odometry and compute a consistent map and trajectory. The Robot Operating System (ROS), an open-source framework for writing robot software, is used as middleware.
Keywords
Graph-SLAM, Wheeled Mobile Robot, RGB-D Sensor, ROS
