RGBD mapping solution for low-cost robot

被引：1

作者：

Beno, Peter ^{[1
]}

Duchon, Frantisek ^{[1
]}

Hubinsky, Peter ^{[1
]}

Dekan, Martin ^{[1
]}

Tolgyessy, Michal ^{[1
]}

Dobis, Michal ^{[1
]}

机构：

[1] Slovak Univ Technol Bratislava, Vazovova 5, Bratislava 81243, Slovakia

来源：

MACHINE VISION AND APPLICATIONS | 2022年 / 33卷 / 02期

关键词：

RGBD; Mapping; Feature detector; Visual odometry; SLAM; REGISTRATION;

D O I：

10.1007/s00138-022-01275-0

中图分类号：

TP18 [人工智能理论];

学科分类号：

081104 ; 0812 ; 0835 ; 1405 ;

摘要：

This paper is focused on the proposal and verification of the RGBD mapping system for a small, low-cost mobile robot. The solution's requested properties were easy to replicate and easy to extend for further development on commonly available personal computers. The proposed solution is based on a Kinect sensor. Furthermore, 14 feature detectors were evaluated, and an ORB detector was chosen for the final implementation. In the image, pre-processing CLAHE filter was applied. Post-processing used the modification of the RANSAC method. The final solution proves a globally consistent SLAM based on an RGBD sensor. The article also presents research, which suggests a parallelization scheme of the computational process using a multi-core CPU to achieve real-time processing.

引用

页数：27

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