Map Building Based on a Xtion Pro Live RGBD and a Laser Sensors

Result code in IS VaVaI

<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F00216305%3A26230%2F14%3APU118877" target="_blank" >RIV/00216305:26230/14:PU118877 - isvavai.cz</a>

Result on the web

<a href="http://www.omicsgroup.org/journals/map-building-based-on-a-xtion-pro-live-rgbd-and-a-laser-sensors-2165-7866.1000126.pdf" target="_blank" >http://www.omicsgroup.org/journals/map-building-based-on-a-xtion-pro-live-rgbd-and-a-laser-sensors-2165-7866.1000126.pdf</a>

DOI - Digital Object Identifier

<a href="http://dx.doi.org/10.4172/2165-7866.1000126" target="_blank" >10.4172/2165-7866.1000126</a>

Result language

angličtina

Original language name

Map Building Based on a Xtion Pro Live RGBD and a Laser Sensors

Original language description

The main contribution of this paper is to show the feasibility to use the novel Xtion Pro Live RGBD camera into the field of sensor data fusion and map making based on the well established Bayesian method. This approach involves the combination of the Xtion Pro Live RGBD camera with the Hokuyo laser sensor data readings, which are interpreted by a probabilistic heuristic model that abstracts the beam into a ray casting to an occupied grid cell. Occupancy grid is proposed for representing the probability of the occupied and empty areas. In order to update the occupancy grid, the Bayesian estimation method is applied to both sensor data arrays. The sensor data fusion yields a significant improvement of the combined occupancy grid compared to the individual occupied sensor data readings. It is also shown by the Mahalanobis distance that by integrating both sensors, more reliable and accurate maps are produced. The approach has been exemplified by following a sensor data fusion method to building a map of an indoor environment robot.

Czech name

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Czech description

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Type

J_ost - Miscellaneous article in a specialist periodical

CEP classification

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OECD FORD branch

10201 - Computer sciences, information science, bioinformathics (hardware development to be 2.2, social aspect to be 5.8)

Project

Result was created during the realization of more than one project. More information in the Projects tab.

Continuities

P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)

Publication year

2014

Confidentiality

S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Name of the periodical

Journal of Information Technology & Software Engineering

ISSN

2165-7866

e-ISSN

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Volume of the periodical

4

Issue of the periodical within the volume

1

Country of publishing house

US - UNITED STATES

Number of pages

7

Pages from-to

1-7

UT code for WoS article

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EID of the result in the Scopus database

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