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Construction of Roadmaps for Mobile Robots’ Navigation Using RGB-D Cameras

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Intelligent Autonomous Systems 13

Part of the book series: Advances in Intelligent Systems and Computing ((AISC,volume 302))

Abstract

This paper describes the construction of roadmaps for mobile robots using vector quantization clustering of the free space. A RGB-D camera is used to find planes that represent objects in the environment as well as walls and floors. The free space is found by separating the objects’ and walls’ planes from the floor’s plane, that represents the space where the mobile robot navigates. Vector quantization technique is used to partition the free space into regions, and the centroids of the regions become the nodes of a roadmap, that is used by a mobile robot to navigate.

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Acknowledgments

This work was supported by PAPIIT-DGAPA UNAM under Grant IN-107609

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Authors and Affiliations

  1. Bio-Robotics Laboratory, Universidad Nacional Autónoma de México, UNAM, Mexico, DF, Mexico

    Jesus Savage, Luis Contreras, Israel Figueroa, Abel Pacheco, Alejandro Bermudez, Marco Negrete, Mauricio Matamoros & Carlos Rivera

Authors
  1. Jesus Savage
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  2. Luis Contreras
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  3. Israel Figueroa
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  4. Abel Pacheco
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  5. Alejandro Bermudez
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  6. Marco Negrete
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  7. Mauricio Matamoros
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  8. Carlos Rivera
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Corresponding author

Correspondence to Jesus Savage .

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Editors and Affiliations

  1. Information Engineering, University of Padua, Padua, Italy

    Emanuele Menegatti

  2. Robotics Institute, Carnegie Mellon University, Pittsburgh, Pennsylvania, USA

    Nathan Michael

  3. Fachbereich Informatik, Technische Universität Kaiserslautern Arbeitsgruppe Robotersysteme, Kaiserslautern, Germany

    Karsten Berns

  4. Integrated Information Technology, Aoyama Gakuin University, Tokyo, Japan

    Hiroaki Yamaguchi

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Savage, J. et al. (2016). Construction of Roadmaps for Mobile Robots’ Navigation Using RGB-D Cameras. In: Menegatti, E., Michael, N., Berns, K., Yamaguchi, H. (eds) Intelligent Autonomous Systems 13. Advances in Intelligent Systems and Computing, vol 302. Springer, Cham. https://doi.org/10.1007/978-3-319-08338-4_17

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  • DOI: https://doi.org/10.1007/978-3-319-08338-4_17

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-08337-7

  • Online ISBN: 978-3-319-08338-4

  • eBook Packages: EngineeringEngineering (R0)

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