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Autonomous Exploration Using Kinect and Laser Range Finder

  • Conference paper
Advances in Autonomous Robotics (TAROS 2012)

Part of the book series: Lecture Notes in Computer Science ((LNAI,volume 7429))

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Abstract

Autonomous exploration has received a large attention in robotic community. The problem of building and maintaining a 2D map (such as an occupancy grid map or a topological map) has reached a recognized level of maturity, if an adequate sensor, like a laser range finder, is available. However, autonomous motion in indoor environments, possibly cluttered and dynamic for the presence of people and other objects, requires the construction of a 3D map to let the mobile robot reacts in real time to dynamic changes and obstacles to be avoided.

This work was funded by Ministero dell’Istruzione, dell’Università e della Ricerca under MEMONET National Research Project.

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References

  1. Engelhard, N., Endres, F., Hess, J., Sturm, J., Burgard, W.: Real-time 3D visual SLAM with a hand-held RGB-D camera. In: RGB-D Workshop on 3D Perception in Robotics at the European Robotics Forum, Vasteras, Sweden (April 2011)

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  2. Carlone, L., Du, J., Ng, M.K., Bona, B., Indri, M.: An application of Kullback-Leibler divergence to active SLAM and exploration with particle filters. In: IEEE lnt. Conf. on Intelligent Robots and Systems (IROS), pp. 287–293 (2010)

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Author information

Authors and Affiliations

  1. Dipartimento di Automatica e Informatica, Politecnico di Torino, Torino, Italy

    Jingjing Du & Marina Indri

  2. Robotics and Mechatronics, University of Twente, Enschede, Netherlands

    Douwe Dresscher & Stefano Stramigioli

Authors
  1. Jingjing Du
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  2. Marina Indri
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  3. Douwe Dresscher
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  4. Stefano Stramigioli
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Editor information

Editors and Affiliations

  1. Department of Mechanical Engineering and Bristol Robotics Laboratory, University of Bristol, Bristol, UK

    Guido Herrmann

  2. Intelligent Autonomous Systems Lab Faculty of Computing, Engineering & Mathematical Sciences, University of the West of England, BS16 1QY, Bristol, U.K.

    Matthew Studley

  3. University of the West of England, BS34 8QZ, Bristol, UK

    Martin Pearson , Andrew Conn  & Chris Melhuish ,  & 

  4. Department of Electrical and Electronic Engineering, Imperial College London, Exhibition Road, SW7 2BT, London, UK

    Mark Witkowski

  5. Robot Intelligence Technology Laboratory, Department of EECS, KAIST, Daejeon, Korea

    Jong-Hwan Kim

  6. National University of Singapore, Singapore

    Prahlad Vadakkepat

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© 2012 Springer-Verlag Berlin Heidelberg

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Cite this paper

Du, J., Indri, M., Dresscher, D., Stramigioli, S. (2012). Autonomous Exploration Using Kinect and Laser Range Finder. In: Herrmann, G., et al. Advances in Autonomous Robotics. TAROS 2012. Lecture Notes in Computer Science(), vol 7429. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-32527-4_40

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  • DOI: https://doi.org/10.1007/978-3-642-32527-4_40

  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-642-32526-7

  • Online ISBN: 978-3-642-32527-4

  • eBook Packages: Computer ScienceComputer Science (R0)

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