Indoor environment detection method of robot based on Kinect sensor
DUAN Yong
SHENG Dong-liang
YU Xia
Abstract：Aiming at the indoor environment detection problem of mobile robot, a target object detection method based on Kinect sensor was proposed.With the video image and depth data captured by Kinect sensor, the detection and localization of target objects with the known features and the completely unknown target objects in the work environment of robot were realized.For the target objects with the known features, the detection could be implemented with the color feature analysis.For the completely unknown objects, the detection could be implemented through adopting the depth ground elimination algorithm and extracting the contour of depth image.Furthermore, the three dimensional spatial localization for the detected object area was performeed with the sensor imaging model, and thus the relative spatial location information between the subject object and robot was obtained.The experiments were implemented based on a mobile robot platform.The results show the proposed method can effectively achieve the detection and localization of indoor environment information.
Keywords：Kinect sensorautonomous mobile robotcolor feature3D space localizationlaser imagingdepth informationvideo imageindoor environment detection
Publication Date：2017-01-01
Online Publishing Date：2025-08-15(First online date of this platform, not the publication date of the document)
Pages：7( 170-176 )