Journal of Institute of Control, Robotics and Systems (제어로봇시스템학회논문지)

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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Localization and 3D Polygon Map Building Method with Kinect Depth Sensor for Indoor Mobile Robots

키넥트 거리센서를 이용한 실내 이동로봇의 위치인식 및 3 차원 다각평면 지도 작성

  • Gwon, Dae-Hyeon (School of Electrical Engineering, Korea Advanced Institute of Science and Technology (KAIST)) ;
  • Kim, Byung-Kook (School of Electrical Engineering, Korea Advanced Institute of Science and Technology (KAIST))
  • 권대현 (한국과학기술원 전기 및 전자공학과) ;
  • 김병국 (한국과학기술원 전기 및 전자공학과)
  • Received : 2016.02.02
  • Accepted : 2016.07.13
  • Published : 2016.09.01
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Abstract

We suggest an efficient Simultaneous Localization and 3D Polygon Map Building (SLAM) method with Kinect depth sensor for mobile robots in indoor environments. In this method, Kinect depth data is separated into row planes so that scan line segments are on each row plane. After grouping all scan line segments from all row planes into line groups, a set of 3D Scan polygons are fitted from each line group. A map matching algorithm then figures out pairs of scan polygons and existing map polygons in 3D, and localization is performed to record correct pose of the mobile robot. For 3D map-building, each 3D map polygon is created or updated by merging each matched 3D scan polygon, which considers scan and map edges efficiently. The validity of the proposed 3D SLAM algorithm is revealed via experiments.

Keywords

References

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