Indoor Localization and 3D Scene Reconstruction for Mobile Robots Using the Microsoft Kinect Sensor

摘要：

In this paper we present an approach to indoor localization and 3D scene reconstruction using the Microsoft Kinect sensor. The proposed system can simultaneously estimates the position and orientation of a hand-held Kinect and generates a dense 3D model of the indoor environment. Furthermore, the robustness and processing time for four different feature descriptors ( SURF, ORB, Shi-Tomasi and FAST) are evaluated. The experiment results demonstrate that our system can robustly deal with complicated data in common indoor scenarios while running in semi-real-time.

作者: Yuhua Zou Weihai Chen Xingming Wu Zhong Liu

作者单位: School of Automation Science and Electrical EngineeringBeihang University, Beijing, China 100191 School of Automation Science and Electrical Engineering Beihang University, Beijing, China 100191

会议类型: 国际会议

会议名称: IEEE 10th International Conference on Industrial Informatics(第十届IEEE工业信息学国际学术会议 INDIN2012)

会议地点: 北京

会议语种:英文

页码: 1182-1187

在线出版日期: 2012-07-25（万方平台首次上网日期，不代表论文的发表时间）