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Authors: Javier Gonzalez-Jimenez ; J. R. Ruiz-Sarmiento and Cipriano Galindo

Affiliation: University of Malaga, Spain

Keyword(s): Kinect, Reactive Navigation, Obstacle Detection, Mobile Robot.

Abstract: Most successful mobile robots rely on 2D radial laser scanners for perceiving the environment. The use of these sensors for reactive navigation has a serious limitation: the robot can only detect obstacles in the plane scanned by the sensor, with the consequent risk of collision with objects out of this plane. The recent commercialization of RGB-D cameras, like Kinect, opens new possibilities in this respect. In this paper we address the matter of adding the 3D information provided by these cameras to a reactive navigator designed to work with radial laser scanners. We experimentally analyze the suitability of Kinect to detect small objects and propose a simple but effective method to combine readings from both type of sensors as well as to overcome some of the drawbacks that Kinect presents. Experiments with a real robot and a particular reactive algorithm have been conducted, proving a significant upgrade in performance.

CC BY-NC-ND 4.0

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Paper citation in several formats:
Gonzalez-Jimenez, J.; R. Ruiz-Sarmiento, J. and Galindo, C. (2013). Improving 2D Reactive Navigators with Kinect. In Proceedings of the 10th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO; ISBN 978-989-8565-71-6; ISSN 2184-2809, SciTePress, pages 393-400. DOI: 10.5220/0004485503930400

@conference{icinco13,
author={Javier Gonzalez{-}Jimenez. and J. {R. Ruiz{-}Sarmiento}. and Cipriano Galindo.},
title={Improving 2D Reactive Navigators with Kinect},
booktitle={Proceedings of the 10th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO},
year={2013},
pages={393-400},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0004485503930400},
isbn={978-989-8565-71-6},
issn={2184-2809},
}

TY - CONF

JO - Proceedings of the 10th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO
TI - Improving 2D Reactive Navigators with Kinect
SN - 978-989-8565-71-6
IS - 2184-2809
AU - Gonzalez-Jimenez, J.
AU - R. Ruiz-Sarmiento, J.
AU - Galindo, C.
PY - 2013
SP - 393
EP - 400
DO - 10.5220/0004485503930400
PB - SciTePress

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