Theodoridis, Theodoros and Hu, Huosheng and McDonald-Maier, Klaus and Gu, Dongbing (2012) Kinect Enabled Monte Carlo Localisation for a Robotic Wheelchair. In: Intelligent Autonomous Systems 12, 2012-06-26 - 2012-06-29, Jeju Island, Korea.
Theodoridis, Theodoros and Hu, Huosheng and McDonald-Maier, Klaus and Gu, Dongbing (2012) Kinect Enabled Monte Carlo Localisation for a Robotic Wheelchair. In: Intelligent Autonomous Systems 12, 2012-06-26 - 2012-06-29, Jeju Island, Korea.
Theodoridis, Theodoros and Hu, Huosheng and McDonald-Maier, Klaus and Gu, Dongbing (2012) Kinect Enabled Monte Carlo Localisation for a Robotic Wheelchair. In: Intelligent Autonomous Systems 12, 2012-06-26 - 2012-06-29, Jeju Island, Korea.
Abstract
Proximity sensors and 2D vision methods have shown to work robustly in particle filter-based Monte Carlo Localisation (MCL). It would be interesting however to examine whether modern 3D vision sensors would be equally efficient for localising a robotic wheelchair with MCL. In this work, we introduce a visual Region Locator Descriptor, acquired from a 3D map using the Kinect sensor to conduct localisation. The descriptor segments the Kinect’s depth map into a grid of 36 regions, where the depth of each column-cell is being used as a distance range for the measurement model of a particle filter. The experimental work concentrated on a comparison of three different localization cases. (a) an odometry model without MCL, (b) with MCL and sonar sensors only, (c) with MCL and the Kinect sensor only. The comparative study demonstrated the efficiency of a modern 3D depth sensor, such as the Kinect, which can be used reliably for wheelchair localisation.
Item Type: | Conference or Workshop Item (UNSPECIFIED) |
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Additional Information: | Published proceedings: Advances in Intelligent Systems and Computing |
Uncontrolled Keywords: | Monte Carlo Localisation; Particle Filter Localisation; Region Locator Descriptors; Kinect sensor |
Subjects: | Q Science > QA Mathematics > QA75 Electronic computers. Computer science T Technology > TK Electrical engineering. Electronics Nuclear engineering |
Divisions: | Faculty of Science and Health Faculty of Science and Health > Computer Science and Electronic Engineering, School of |
SWORD Depositor: | Unnamed user with email elements@essex.ac.uk |
Depositing User: | Unnamed user with email elements@essex.ac.uk |
Date Deposited: | 04 Dec 2014 16:06 |
Last Modified: | 30 Oct 2024 16:53 |
URI: | http://repository.essex.ac.uk/id/eprint/11986 |
Available files
Filename: IntelligentAutonomousSystems2012-Korea.pdf