On Real-Time Obstacle Avoidance Using 3-D Point Clouds
文献类型：会议论文
| 作者 | Fu, Yiqun; Jiang, Guolai; Feng, Wei; Zhou, Yimin; Ou, Yongsheng |
| 出版日期 | 2014 |
| 会议名称 | 2014 IEEE International Conference on Robotics and Biomimetics, IEEE ROBIO 2014 |
| 会议地点 | 印度尼西亚 |
| 英文摘要 | Obstacle avoidance is a key problem required in the mobile robot navigation technology. In this paper, we build up a 3D environment in an intelligent surveillance robot through registration of point clouds and present a method to deal with the obstacle avoidance problem. Firstly, the framework of the intelligent robot is given. Then we register the point clouds from an RGB-D Kinect by applying an ICP (Iterative Closest Point) algorithm. The online processing is done using the ROS system. Next, we propose an approach to avoid obstacles by projecting 3D data to a plane thus 2D technologies which need less computation can be used. Finally, some experimental results are presented to be valid. |
| 收录类别 | EI |
| 语种 | 英语 |
| 源URL | [http://ir.siat.ac.cn:8080/handle/172644/5663]  |
| 专题 | 深圳先进技术研究院_集成所 |
| 作者单位 | 2014 |
| 推荐引用方式 GB/T 7714 | Fu, Yiqun,Jiang, Guolai,Feng, Wei,et al. On Real-Time Obstacle Avoidance Using 3-D Point Clouds[C]. 见:2014 IEEE International Conference on Robotics and Biomimetics, IEEE ROBIO 2014. 印度尼西亚. |
入库方式： OAI收割
来源：深圳先进技术研究院
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