Revista UIS Ingenierías

Vol. 14 No. 1 (2015): Revista UIS Ingenierías
Articles

Reactive navigation scheme with RGB-D sensors

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  • Andrés Felipe Suárez Sánchez,
  • Humberto Loaiza Correa
Andrés Felipe Suárez Sánchez
Universidad del Valle
Bio
Humberto Loaiza Correa
Universidad del Valle
Bio

Published 2014-12-23

Keywords

  • Computer Vision,
  • mobile robotics,
  • perception,
  • navigation,
  • reconstruction,
  • kinect,
  • point cloud,
  • potential fields
    • ...More
    Less

How to Cite

Suárez Sánchez, A. F., & Loaiza Correa, H. (2014). Reactive navigation scheme with RGB-D sensors. Revista UIS Ingenierías, 14(1), 7–19. Retrieved from https://revistas.uis.edu.co/index.php/revistauisingenierias/article/view/7-19
Copyright Notice

Abstract

This paper presents the integration of a mobile robot with a vision system, which allows to a mobile agent to detect and avoid obstacles in its path. The vision system has the ability to present a 3D model of the local scene as a point clouds representation. The hardware integration is formed by an RGB-D inexpensive camera, a processing unit and a robotic platform. For visual perception, an algorithm for reduction 3D to 2D information similar to the information provided by range sensors was implemented in order to reduce response time and manipulation data for navigation algorithms. The whole system was tested in a controlled environment, overcoming various tests of navigation and obstacle avoidance. This work exploring the capabilities of RGB-D sensors in mobile robotics at Colombian Pacific  region and is the first step of a research proposal aims to implement a solution to the problem of Simultaneous Localization and Mapping (SLAM).

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