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Authors: Sergio Ayuso 1 ; Carlos Sagüés 1 and Rosario Aragüés 2

Affiliations: 1 Universidad de Zaragoza, Spain ; 2 Clermont Universite and CNRS, France

ISBN: 978-989-8565-71-6

Keyword(s): Network Robots, RGB-D Sensing, Distributed Systems, 3D Mapping and Localization.

Related Ontology Subjects/Areas/Topics: Distributed Control Systems ; Informatics in Control, Automation and Robotics ; Intelligent Control Systems and Optimization ; Mobile Robots and Autonomous Systems ; Network Robotics ; Robotics and Automation ; Sensors Fusion ; Signal Processing, Sensors, Systems Modeling and Control ; Vision, Recognition and Reconstruction

Abstract: In this paper we present a method to make every robot of a team to compute a global 3D map of the scenarios explored by all the members, obtaining also the trajectories of the team. Every robot has a RGB-D device on board which gives RGB and depth data simultaneously and uses this information to build its own local map in real time. Once all robots have formed their local maps, they start a communication process to transform all maps to a common reference and merge them. The interest of this work is related to the establishment of the global reference and the management of the local point clouds to get correspondences between local maps which make possible to obtain the best possible transformation from the reference of every robot to the global reference.

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Paper citation in several formats:
Ayuso, S.; Sagüés, C. and Aragüés, R. (2013). Distributed Localization and Scene Reconstruction from RGB-D Data.In Proceedings of the 10th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO, ISBN 978-989-8565-71-6, pages 377-384. DOI: 10.5220/0004485103770384

@conference{icinco13,
author={Sergio Ayuso. and Carlos Sagüés. and Rosario Aragüés.},
title={Distributed Localization and Scene Reconstruction from RGB-D Data},
booktitle={Proceedings of the 10th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO,},
year={2013},
pages={377-384},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0004485103770384},
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 - Distributed Localization and Scene Reconstruction from RGB-D Data
SN - 978-989-8565-71-6
AU - Ayuso, S.
AU - Sagüés, C.
AU - Aragüés, R.
PY - 2013
SP - 377
EP - 384
DO - 10.5220/0004485103770384

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