Construction of roadmaps for mobile robots' navigation using rgb-d cameras
J Savage, L Contreras, I Figueroa, A Pacheco…�- …�Autonomous Systems 13�…, 2016 - Springer
Intelligent Autonomous Systems 13: Proceedings of the 13th International�…, 2016•Springer
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�…
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�…
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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