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3D Mapping of indoor environments using RGB-D Kinect camera for robotic mobile application

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hdl:2099.1/14837

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Perez Bonnal, Emmanuel
Tutor / directorBona, Basilio
Document typeMaster thesis (pre-Bologna period)
Date2010
Rights accessOpen Access
All rights reserved. This work is protected by the corresponding intellectual and industrial property rights. Without prejudice to any existing legal exemptions, reproduction, distribution, public communication or transformation of this work are prohibited without permission of the copyright holder
Abstract
RGB-D cameras are new, low cost, sensors that provide depth information for every RGB pixel acquired. Combining this information, it is possible to develop 3D perception in an indoor environment. In this paper we investigate how this technology can be used for building 3D maps. Such maps can gain more importance in the context of mobile robotics, as it can be used for many applications such as robot navigation. We present how, knowing the robot's pose, it is possible to build such maps and extract useful information like recognize objects and determine their position within the map.
SubjectsThree-dimensional display system, Mobile robots, Visualització tridimensional (Informàtica), Robots mòbils
ProvenanceAquest document conté originàriament altre material i/o programari no inclòs en aquest lloc web
DegreeENGINYERIA INDUSTRIAL (Pla 1994)
URIhttp://hdl.handle.net/2099.1/14837
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  • Escola Tècnica Superior d'Enginyeria Industrial de Barcelona - Enginyeria Industrial (Pla 1994) [3.410]
  • Programes de Mobilitat Internacional - Programes de mobilitat 'outgoing' (ETSEIB) [1.287]
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