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Authors: J. R. Ruiz-Sarmiento and Cipriano Galindo

Affiliation: University of Malaga, Spain

ISBN: 978-989-8565-71-6

Keyword(s): Kinect, Reactive Navigation, Obstacle Detection, Mobile Robot.

Related Ontology Subjects/Areas/Topics: Autonomous Agents ; Informatics in Control, Automation and Robotics ; Mobile Robots and Autonomous Systems ; Perception and Awareness ; Robotics and Automation

Abstract: Most successful mobile robots rely on 2D radial laser scanners for perceiving the environment. The use of these sensors for reactive navigation has a serious limitation: the robot can only detect obstacles in the plane scanned by the sensor, with the consequent risk of collision with objects out of this plane. The recent commercialization of RGB-D cameras, like Kinect, opens new possibilities in this respect. In this paper we address the matter of adding the 3D information provided by these cameras to a reactive navigator designed to work with radial laser scanners. We experimentally analyze the suitability of Kinect to detect small objects and propose a simple but effective method to combine readings from both type of sensors as well as to overcome some of the drawbacks that Kinect presents. Experiments with a real robot and a particular reactive algorithm have been conducted, proving a significant upgrade in performance.

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Paper citation in several formats:
Gonzalez-Jimenez, J.; R. Ruiz-Sarmiento, J. and Galindo, C. (2013). Improving 2D Reactive Navigators with Kinect.In Proceedings of the 10th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO, ISBN 978-989-8565-71-6, pages 393-400. DOI: 10.5220/0004485503930400

@conference{icinco13,
author={Javier Gonzalez{-}Jimenez. and J. R. Ruiz{-}Sarmiento. and Cipriano Galindo.},
title={Improving 2D Reactive Navigators with Kinect},
booktitle={Proceedings of the 10th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO,},
year={2013},
pages={393-400},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0004485503930400},
isbn={978-989-8565-71-6},
}

TY - CONF

JO - Proceedings of the 10th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO,
TI - Improving 2D Reactive Navigators with Kinect
SN - 978-989-8565-71-6
AU - Gonzalez-Jimenez, J.
AU - R. Ruiz-Sarmiento, J.
AU - Galindo, C.
PY - 2013
SP - 393
EP - 400
DO - 10.5220/0004485503930400

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