Map building with RGB-D camera for mobil robot

Abstract

The paper deals with the issues of the autonomous navigation of mobile robots. Nowadays several automatic operated vehicles, robots are used widely from the industry (storage system) to the everyday use (automatic parking system). The paper deals with the realization of a smaller sized robot vehicle which is capable for autonomous navigation. Within this framework we describe the realization of the vehicle, the developed board computer for navigation and the possible sensors as well. At the beginning of the paper some developments are presented which also dealt with the autonomous navigation of robots and mapping their environment. In knowledge of these works we started to develop our robot system. In a former paper we presented our robot vehicle and an early navigation algorithm. In the current paper it is summarized which sensors can detect the environment and the localization of the vehicle. The paper presents our experimental results about the accuracy of the Kinect sensor in more details.