Optimisation of accuracy on a low-cost 3D mapping system for indoor navigation

Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F60162694%3AG43__%2F15%3A00531618" target="_blank" >RIV/60162694:G43__/15:00531618 - isvavai.cz</a>
Result on the web
<a href="http://vavtest.unob.cz/registr" target="_blank" >http://vavtest.unob.cz/registr</a>
DOI - Digital Object Identifier
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Result language
angličtina
Original language name
Optimisation of accuracy on a low-cost 3D mapping system for indoor navigation
Original language description
This paper focuses on the possibility for a robot to retrieve its position relatively to a previous map created in a preliminary pass. To be able to find a position of a robot, the common solution is to use costly sensors (mostly lasers) to recalibrate the position evaluated by low cost onboard sensors (in order to deal with drifts of the low cost sensors). Our work evaluates the possibility to use a low cost 3D sensor (Microsoft Kinect or Asus Xtion) in an unknown environment, creating a 3D map in a first pass and using this map to estimate the position of the robot. This paper describes the tools used and presents some optimizations to improve accuracy.
Czech name
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Czech description
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Project
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Continuities
I - Institucionalni podpora na dlouhodoby koncepcni rozvoj vyzkumne organizace

Publication year
2015
Confidentiality
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Article name in the collection
Dynamical Systems - Mechatronics and Life Sciences 13th International Conference DSTA '2015
ISBN
978-83-7283-707-3
ISSN
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e-ISSN
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Number of pages
8
Pages from-to
57-64
Publisher name
ARSA Druk i Reklama
Place of publication
Lodz, Polsko
Event location
Lodz, Polsko
Event date
Dec 7, 2015
Type of event by nationality
WRD - Celosvětová akce
UT code for WoS article
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