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3D environment mapping using the Kinect V2 and path planning based on RRT algorithms
dc.contributor.author | Aguilar Castillo, Wilbert Geovanny |
dc.contributor.author | Morales, Stephanie G. |
dc.contributor.other | Universitat Politècnica de Catalunya. Departament d'Enginyeria de Sistemes, Automàtica i Informàtica Industrial |
dc.date.accessioned | 2017-05-02T13:30:27Z |
dc.date.available | 2017-05-02T13:30:27Z |
dc.date.issued | 2016-10-18 |
dc.identifier.citation | Aguilar, W. G., Morales, S. 3D environment mapping using the Kinect V2 and path planning based on RRT algorithms. "Electronics", 18 Octubre 2016, vol. 5, núm. 4, p. 1-17. |
dc.identifier.issn | 2079-9292 |
dc.identifier.uri | http://hdl.handle.net/2117/103909 |
dc.description.abstract | This paper describes a 3D path planning system that is able to provide a solution trajectory for the automatic control of a robot. The proposed system uses a point cloud obtained from the robot workspace, with a Kinect V2 sensor to identify the interest regions and the obstacles of the environment. Our proposal includes a collision-free path planner based on the Rapidly-exploring Random Trees variant (RRT*), for a safe and optimal navigation of robots in 3D spaces. Results on RGB-D segmentation and recognition, point cloud processing, and comparisons between different RRT* algorithms, are presented. |
dc.format.extent | 17 p. |
dc.language.iso | eng |
dc.rights | Attribution 3.0 Spain |
dc.rights.uri | http://creativecommons.org/licenses/by/3.0/es/ |
dc.subject | Àrees temàtiques de la UPC::Informàtica::Robòtica |
dc.subject.lcsh | Mobile robots--Automatic control |
dc.subject.other | path planning |
dc.subject.other | RRT |
dc.subject.other | RRT* |
dc.subject.other | point cloud registration |
dc.subject.other | 3D modeling |
dc.subject.other | mobile robotics |
dc.subject.other | RGB-D segmentation |
dc.subject.other | computational geometry |
dc.title | 3D environment mapping using the Kinect V2 and path planning based on RRT algorithms |
dc.type | Article |
dc.subject.lemac | Robots mòbils -- Control automàtic |
dc.contributor.group | Universitat Politècnica de Catalunya. GREC - Grup de Recerca en Enginyeria del Coneixement |
dc.identifier.doi | 10.3390/electronics5040070 |
dc.description.peerreviewed | Peer Reviewed |
dc.relation.publisherversion | http://www.mdpi.com/2079-9292/5/4/70 |
dc.rights.access | Open Access |
local.identifier.drac | 19257237 |
dc.description.version | Postprint (published version) |
local.citation.author | Aguilar, W. G.; Morales, S. |
local.citation.publicationName | Electronics |
local.citation.volume | 5 |
local.citation.number | 4 |
local.citation.startingPage | 1 |
local.citation.endingPage | 17 |
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