TY - GEN
T1 - Reliable wall estimation method with RGB-D camera for wall following
AU - Park, Jungkil
AU - Lee, Sungmin
AU - Park, Jaebyung
N1 - Publisher Copyright:
© 2014 IEEE.
PY - 2014
Y1 - 2014
N2 - In this paper, we figure out the problems of existing wall estimation methods using a 2D sensor and propose a reliable wall estimation method using a RGB-D camera. First, a point cloud is obtained by the RGB-D camera, and a surface normal is calculated at each point. Next, planes such as floor, right and left planes are classified by angle thresholding of the normal vector, where the thresholding angle is determined as an angle between the normal vector and the gravity. In this case, the right and left planes can be used as reference walls for wall following. Since the relatively long wall segment can be obtained by using just 1 frame of the depth images, the wall can be obtained reliably and rapidly.
AB - In this paper, we figure out the problems of existing wall estimation methods using a 2D sensor and propose a reliable wall estimation method using a RGB-D camera. First, a point cloud is obtained by the RGB-D camera, and a surface normal is calculated at each point. Next, planes such as floor, right and left planes are classified by angle thresholding of the normal vector, where the thresholding angle is determined as an angle between the normal vector and the gravity. In this case, the right and left planes can be used as reference walls for wall following. Since the relatively long wall segment can be obtained by using just 1 frame of the depth images, the wall can be obtained reliably and rapidly.
KW - RGB-D camera
KW - wall estimation
KW - wall following
UR - https://www.scopus.com/pages/publications/84988255634
U2 - 10.1109/URAI.2014.7057505
DO - 10.1109/URAI.2014.7057505
M3 - Conference paper
AN - SCOPUS:84988255634
T3 - 2014 11th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2014
SP - 616
EP - 618
BT - 2014 11th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2014
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2014 11th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2014
Y2 - 12 November 2014 through 15 November 2014
ER -