Simultaneous localization and mapping using an RGB-D camera for autonomous mobile robot navigation

Luis Rodolfo Macias; Ulises Orozco-Rosas; Kenia Picos

doi:10.1117/12.2594033

1 August 2021 Simultaneous localization and mapping using an RGB-D camera for autonomous mobile robot navigation

Luis Rodolfo Macias, Ulises Orozco-Rosas, Kenia Picos

Proceedings Volume 11841, Optics and Photonics for Information Processing XV; 118410M (2021) https://doi.org/10.1117/12.2594033
Event: SPIE Optical Engineering + Applications, 2021, San Diego, California, United States

Abstract

This paper presents the implementation of a simultaneous localization and mapping (SLAM) algorithm for autonomous mobile robot navigation. The proposed implementation uses an RGB-D camera to detect the environment and map an occupancy grid that allows the mobile robot to perform autonomous navigation through the environment. The implementation employs the Robot Operating System (ROS) and the Adaptive Monte Carlo Localization to estimate the mobile robot’s current position in the environment with the data retrieved from the RGB-D camera and the odometry data. The mobile robot performs autonomous navigation considering if the robot can safely navigate while avoiding obstacles. Experimental results are presented to validate the implementation.

Conference Presentation

Citation Download Citation

Luis Rodolfo Macias, Ulises Orozco-Rosas, and Kenia Picos "Simultaneous localization and mapping using an RGB-D camera for autonomous mobile robot navigation", Proc. SPIE 11841, Optics and Photonics for Information Processing XV, 118410M (1 August 2021); https://doi.org/10.1117/12.2594033

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