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Indoor mapping using kinect and ROS

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dc.citedby35
dc.contributor.authorOmara H.I.M.A.en_US
dc.contributor.authorSahari K.S.M.en_US
dc.contributor.authorid57189094367en_US
dc.contributor.authorid57218170038en_US
dc.date.accessioned2023-05-29T06:12:52Z
dc.date.available2023-05-29T06:12:52Z
dc.date.issued2016
dc.descriptionIndoor positioning systems; Mapping; Navigation; Open systems; Radar equipment; Range finders; Robotics; Robots; Three dimensional computer graphics; Gmapping; Interactive marker; Kinect; SLAM; TurtleBot 2; Multi agent systemsen_US
dc.description.abstractThis research covers an endeavor by the author on the usage of automated vision and navigation framework; the research is conducted by utilizing a Kinect sensor requiring minimal effort framework for exploration purposes in the zone of robot route. For this framework, GMapping (a highly efficient Rao-Blackwellized particle filer to learn grid maps from laser range data) parameters have been optimized to improve the accuracy of the map generation and the laser scan. With the use of Robot Operating System (ROS), the open source GMapping bundle was utilized as a premise for a map era and Simultaneous Localization and Mapping (SLAM). Out of the many different map generation techniques, the tele-operation used is interactive marker, which controls the TurtleBot 2 movements via RVIZ (3D visualization tool for ROS). Test results completed with the multipurpose robot in a counterfeit and regular environment represents the preferences of the proposed strategy. From experiments, it is found that Kinect sensor produces a more accurate map compared to non-filtered laser range finder data, which is excellent since the price of a Kinect sensor is much cheaper than a laser range finder. An expansion of experimental results was likewise done to test the performance of the portable robot frontier exploring in an obscure environment while performing SLAM alongside the proposed technique. � 2015 IEEE.en_US
dc.description.natureFinalen_US
dc.identifier.ArtNo7379780
dc.identifier.doi10.1109/ISAMSR.2015.7379780
dc.identifier.epage116
dc.identifier.scopus2-s2.0-84965179643
dc.identifier.spage110
dc.identifier.urihttps://www.scopus.com/inward/record.uri?eid=2-s2.0-84965179643&doi=10.1109%2fISAMSR.2015.7379780&partnerID=40&md5=258006cab35ff7cf57a82b3d1ca486b7
dc.identifier.urihttps://irepository.uniten.edu.my/handle/123456789/22866
dc.publisherInstitute of Electrical and Electronics Engineers Inc.en_US
dc.sourceScopus
dc.sourcetitle2015 International Symposium on Agents, Multi-Agent Systems and Robotics, ISAMSR 2015
dc.titleIndoor mapping using kinect and ROSen_US
dc.typeConference Paperen_US
dspace.entity.typePublication
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