Detecting, Locating and Crossing a Door for a Wide Indoor Surveillance Robot
文献类型：会议论文
| 作者 | DaWei Dai; GuoLai Jiang; Junbo Xin; Xiang Gao; LiangLiang Cui; YongSheng Ou; GuoQiang Fu |
| 出版日期 | 2013 |
| 会议名称 | 2013 IEEE International Conference on Robotics and Biomimetics, ROBIO 2013 |
| 会议地点 | Shenzhen, China |
| 英文摘要 | Crossing a door is usually a necessary action for autonomous patrol of an indoor surveillance robot. However, it is difficult for a large robot to cross narrow doors. In this paper, a method for detecting, locating and crossing a door for an indoor surveillance robot with Kinect is presented. Firstly, doors are detected and located based on RGB-D data collected form Kinect. Then, the conversion between robot coordinate system and world coordinate system is discussed. Thirdly, a nonlinear adaptive controller is designed for the robot to move perpendicularly through the door. Experiments were taken on a surveillance robot and the results illustrated the effectiveness of this method. |
| 收录类别 | EI |
| 语种 | 英语 |
| 源URL | [http://ir.siat.ac.cn:8080/handle/172644/4621]  |
| 专题 | 深圳先进技术研究院_集成所 |
| 作者单位 | 2013 |
| 推荐引用方式 GB/T 7714 | DaWei Dai,GuoLai Jiang,Junbo Xin,et al. Detecting, Locating and Crossing a Door for a Wide Indoor Surveillance Robot[C]. 见:2013 IEEE International Conference on Robotics and Biomimetics, ROBIO 2013. Shenzhen, China. |
入库方式： OAI收割
来源：深圳先进技术研究院
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