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http://dx.doi.org/10.7471/ikeee.2019.23.1.44

Educational Indoor Autonomous Mobile Robot System Using a LiDAR and a RGB-D Camera  

Lee, Soo-Young (School of Mechanical and ICT Convergence Engineering, Sun Moon University)
Kim, Jae-Young (School of Mechanical and ICT Convergence Engineering, Sun Moon University)
Cho, Se-Hyoung (School of Mechanical and ICT Convergence Engineering, Sun Moon University)
Shin, Chang-yong (School of Mechanical and ICT Convergence Engineering, Sun Moon University)
Publication Information
Journal of IKEEE / v.23, no.1, 2019 , pp. 44-52 More about this Journal
Abstract
We implement an educational indoor autonomous mobile robot system that integrates LiDAR sensing information with RGB-D camera image information and exploits the integrated information. This system uses the existing sensing method employing a LiDAR with a small number of scan channels to acquire LiDAR sensing information. To remedy the weakness of the existing LiDAR sensing method, we propose the 3D structure recognition technique using depth images from a RGB-D camera and the deep learning based object recognition algorithm and apply the proposed technique to the system.
Keywords
Indoor Navigation; Mobile Robot; Robot Operating System (ROS); Depth Image; Deep Learning;
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