Method to convert Kinect's 3D depth data to a 2D map for indoor SLAM
Proceeding of The 9th International Colloquium on Signal Processing and its Applications 2013 (CSPA 2013) at Kuala Lumpur, Malaysia on 8 March 2013 through 10 March 2013
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Institute of Electrical and Electronics Engineers (IEEE)
2014
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my.unimap-341932015-07-14T01:31:47Z Method to convert Kinect's 3D depth data to a 2D map for indoor SLAM Kamarulzaman, Kamarudin Syed Muhammad Mamduh, Syed Zakaria Ali Yeon, Md Shakaff, Prof. Dr. Shaharil, Mad Saad Ammar, Zakaria Latifah Munirah, Kamarudin, Dr. Abu Hassan, Abdullah, Dr. arul.unimap@gmail.com aliyeon@unimap.edu.my latifahmunirah@unimap.edu.my abuhassan@unimap.edu.my Image processing Indoor SLAM Microsoft Kinect Navigation Robotics Proceeding of The 9th International Colloquium on Signal Processing and its Applications 2013 (CSPA 2013) at Kuala Lumpur, Malaysia on 8 March 2013 through 10 March 2013 Mobile robotics has been strongly linked to localization and mapping especially for navigation purpose. A robot needs a sensor to see objects around it, avoid them and also map the surrounding area. The use of 1D and 2D proximity sensors such as ultrasonic sensor, sonar and laser range finder for area mapping is believed to be less effective since they do not provide information in Y or Z (horizontal and vertical) direction. The robot may miss an object due to its shape and position; thus increasing the risk of collision as well as inaccurate map. In this paper, a 3D visual device particularly Microsoft Kinect was used to perform area mapping. The 3D depth data from the device's depth sensor was retrieved and converted into 2D map using the presented method. A Graphical User Interface (GUI) was also implemented on the base station to depict the real-time map. It was found that the method applied has successfully mapped the potentially missing objects when using 1D or 2D sensor. The convincing results shown in this paper suggest that the Kinect is suitable for indoor SLAM application given that the device's limitations are solved. 2014-04-30T06:47:49Z 2014-04-30T06:47:49Z 2013-03 Working Paper p. 247-251 978-146735609-1 http://ieeexplore.ieee.org/xpl/articleDetails.jsp?arnumber=6530050 http://dspace.unimap.edu.my:80/dspace/handle/123456789/34193 en Proceeding of The 9th International Colloquium on Signal Processing and its Applications 2013 (CSPA 2013); Institute of Electrical and Electronics Engineers (IEEE) |
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Image processing Indoor SLAM Microsoft Kinect Navigation Robotics |
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Image processing Indoor SLAM Microsoft Kinect Navigation Robotics Kamarulzaman, Kamarudin Syed Muhammad Mamduh, Syed Zakaria Ali Yeon, Md Shakaff, Prof. Dr. Shaharil, Mad Saad Ammar, Zakaria Latifah Munirah, Kamarudin, Dr. Abu Hassan, Abdullah, Dr. Method to convert Kinect's 3D depth data to a 2D map for indoor SLAM |
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Proceeding of The 9th International Colloquium on Signal Processing and its Applications 2013 (CSPA 2013) at Kuala Lumpur, Malaysia on 8 March 2013 through 10 March 2013 |
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arul.unimap@gmail.com |
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arul.unimap@gmail.com Kamarulzaman, Kamarudin Syed Muhammad Mamduh, Syed Zakaria Ali Yeon, Md Shakaff, Prof. Dr. Shaharil, Mad Saad Ammar, Zakaria Latifah Munirah, Kamarudin, Dr. Abu Hassan, Abdullah, Dr. |
format |
Working Paper |
author |
Kamarulzaman, Kamarudin Syed Muhammad Mamduh, Syed Zakaria Ali Yeon, Md Shakaff, Prof. Dr. Shaharil, Mad Saad Ammar, Zakaria Latifah Munirah, Kamarudin, Dr. Abu Hassan, Abdullah, Dr. |
author_sort |
Kamarulzaman, Kamarudin |
title |
Method to convert Kinect's 3D depth data to a 2D map for indoor SLAM |
title_short |
Method to convert Kinect's 3D depth data to a 2D map for indoor SLAM |
title_full |
Method to convert Kinect's 3D depth data to a 2D map for indoor SLAM |
title_fullStr |
Method to convert Kinect's 3D depth data to a 2D map for indoor SLAM |
title_full_unstemmed |
Method to convert Kinect's 3D depth data to a 2D map for indoor SLAM |
title_sort |
method to convert kinect's 3d depth data to a 2d map for indoor slam |
publisher |
Institute of Electrical and Electronics Engineers (IEEE) |
publishDate |
2014 |
url |
http://dspace.unimap.edu.my:80/dspace/handle/123456789/34193 |
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1643797418364370944 |
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13.214268 |