Visual localisation of a robot with an external RGBD sensor

Winston Yii, Nalika Damayanthi, Tom Drummond, Wai Ho Li

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Abstract

This paper presents a novel approach to visual localisation that uses a camera on the robot coupled wirelessly to an external RGB-D sensor. Unlike systems where an external sensor observes the robot, our approach merely assumes the robots camera and external sensor share a portion of their field of view. Experiments were performed using a Microsoft Kinect as the external sensor and a small mobile robot. The robot carries a smartphone, which acts as its camera, sensor processor, control platform and wireless link. Computational effort is distributed between the smartphone and a host PC connected to the Kinect. Experimental results show that the approach is accurate and robust in dynamic environments with substantial object movement and occlusions.

Original languageEnglish
Title of host publicationProceedings of the 2011 Australasian Conference on Robotics and Automation (ACRA 2011)
PublisherAustralian Robotics and Automation Association (ARAA)
Number of pages9
ISBN (Print)9780980740424
Publication statusPublished - 2011
Externally publishedYes
EventAustralasian Conference on Robotics and Automation 2011 - Monash University, Melbourne, Australia
Duration: 7 Dec 20119 Dec 2011
http://www.araa.asn.au/conferences/acra-2011/

Conference

ConferenceAustralasian Conference on Robotics and Automation 2011
Abbreviated titleACRA 2011
CountryAustralia
CityMelbourne
Period7/12/119/12/11
Internet address

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