RGB D sensor based visual SLAM for localization and navigation of indoor mobile robot
To increase the localization accuracy of the moving service robot in restaurant, A localization method and a landmark recognition method based on RGB and depth (RGB D) vision sensor is presented. Based on the landmarks, we utilized an Extend Kalman Filter(EKF) method to calculate robot position and pose. The path planning approach based on a differential flatness point to point trajectory planning is proposed for the robot. There are kinds of control manners which improved the enjoyment of human machine interface, such as mobile client and voice control. Finally, the proposed methods have been verified to be effective and feasible by experiment in indoor environments.
2016 International Conference on Advanced Robotics and Mechatronics (ICARM)