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Improvement of the 2D SLAM system using Kinect sensor for indoor mapping

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dc.citedby15
dc.contributor.authorGhani M.F.A.en_US
dc.contributor.authorSahari K.S.M.en_US
dc.contributor.authorKiong L.C.en_US
dc.contributor.authorid56158540700en_US
dc.contributor.authorid57218170038en_US
dc.contributor.authorid57193642839en_US
dc.date.accessioned2023-05-16T02:46:06Z
dc.date.available2023-05-16T02:46:06Z
dc.date.issued2014
dc.description.abstractSimultaneous localization and mapping (SLAM) is an important system for making fully autonomous robot navigation system. A robot must have a good understanding of the environment for navigation. Mobile robot using fixed laser range finder can only detect obstacle on a particular plane level. This may lead to missing of important obstacles that are both above or below the laser scan level. This will cause the map generated to be inaccurate and collision may happen during autonomous navigation. The Microsoft Kinect sensor can replace a laser range finder in a mobile robot as a low cost alternative while providing 3D data. Using depth image data from Kinect, the obstacles between ground surface and 500mm high are projected to horizontal surface, and converted to laser scan data. This will include the entire obstacles that the robot might collide into. Simulations and experiments have been conducted to test out the method in SLAM process in an indoor environment. Both simulation and experimental results show that the proposed method is capable of getting more detailed map compared to the normal 2D map. © 2014 IEEE.en_US
dc.description.natureFinalen_US
dc.identifier.ArtNo7044753
dc.identifier.doi10.1109/SCIS-ISIS.2014.7044753
dc.identifier.epage781
dc.identifier.scopus2-s2.0-84988269553
dc.identifier.spage776
dc.identifier.urihttps://www.scopus.com/inward/record.uri?eid=2-s2.0-84988269553&doi=10.1109%2fSCIS-ISIS.2014.7044753&partnerID=40&md5=e6acc7e882dda59a3413aaef9382e69b
dc.identifier.urihttps://irepository.uniten.edu.my/handle/123456789/21926
dc.publisherInstitute of Electrical and Electronics Engineers Inc.en_US
dc.sourceScopus
dc.sourcetitle2014 Joint 7th International Conference on Soft Computing and Intelligent Systems, SCIS 2014 and 15th International Symposium on Advanced Intelligent Systems, ISIS 2014
dc.titleImprovement of the 2D SLAM system using Kinect sensor for indoor mappingen_US
dc.typeConference Paperen_US
dspace.entity.typePublication
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