Indoor mapping using kinect and ROS
Indoor 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 systems
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Institute of Electrical and Electronics Engineers Inc.
2023
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my.uniten.dspace-228662023-05-29T14:12:52Z Indoor mapping using kinect and ROS Omara H.I.M.A. Sahari K.S.M. 57189094367 57218170038 Indoor 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 systems This 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. Final 2023-05-29T06:12:52Z 2023-05-29T06:12:52Z 2016 Conference Paper 10.1109/ISAMSR.2015.7379780 2-s2.0-84965179643 https://www.scopus.com/inward/record.uri?eid=2-s2.0-84965179643&doi=10.1109%2fISAMSR.2015.7379780&partnerID=40&md5=258006cab35ff7cf57a82b3d1ca486b7 https://irepository.uniten.edu.my/handle/123456789/22866 7379780 110 116 Institute of Electrical and Electronics Engineers Inc. Scopus |
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| description |
Indoor 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 systems |
| author2 |
57189094367 |
| author_facet |
57189094367 Omara H.I.M.A. Sahari K.S.M. |
| format |
Conference Paper |
| author |
Omara H.I.M.A. Sahari K.S.M. |
| spellingShingle |
Omara H.I.M.A. Sahari K.S.M. Indoor mapping using kinect and ROS |
| author_sort |
Omara H.I.M.A. |
| title |
Indoor mapping using kinect and ROS |
| title_short |
Indoor mapping using kinect and ROS |
| title_full |
Indoor mapping using kinect and ROS |
| title_fullStr |
Indoor mapping using kinect and ROS |
| title_full_unstemmed |
Indoor mapping using kinect and ROS |
| title_sort |
indoor mapping using kinect and ros |
| publisher |
Institute of Electrical and Electronics Engineers Inc. |
| publishDate |
2023 |
| _version_ |
1806425975709237248 |
| score |
13.214268 |