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Method to convert Kinect's 3D depth data to a 2D map for indoor SLAM

Proceeding of The 9th International Colloquium on Signal Processing and its Applications 2013 (CSPA 2013) at Kuala Lumpur, Malaysia on 8 March 2013 through 10 March 2013

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Main Authors: Kamarulzaman, Kamarudin, Syed Muhammad Mamduh, Syed Zakaria, Ali Yeon, Md Shakaff, Prof. Dr., Shaharil, Mad Saad, Ammar, Zakaria, Latifah Munirah, Kamarudin, Dr., Abu Hassan, Abdullah, Dr.
Other Authors: arul.unimap@gmail.com
Format: Working Paper
Language:English
Published: Institute of Electrical and Electronics Engineers (IEEE) 2014
Subjects:
Image processing
Indoor SLAM
Microsoft Kinect
Navigation
Robotics
Online Access:http://dspace.unimap.edu.my:80/dspace/handle/123456789/34193
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spelling my.unimap-341932015-07-14T01:31:47Z Method to convert Kinect's 3D depth data to a 2D map for indoor SLAM Kamarulzaman, Kamarudin Syed Muhammad Mamduh, Syed Zakaria Ali Yeon, Md Shakaff, Prof. Dr. Shaharil, Mad Saad Ammar, Zakaria Latifah Munirah, Kamarudin, Dr. Abu Hassan, Abdullah, Dr. arul.unimap@gmail.com aliyeon@unimap.edu.my latifahmunirah@unimap.edu.my abuhassan@unimap.edu.my Image processing Indoor SLAM Microsoft Kinect Navigation Robotics Proceeding of The 9th International Colloquium on Signal Processing and its Applications 2013 (CSPA 2013) at Kuala Lumpur, Malaysia on 8 March 2013 through 10 March 2013 Mobile robotics has been strongly linked to localization and mapping especially for navigation purpose. A robot needs a sensor to see objects around it, avoid them and also map the surrounding area. The use of 1D and 2D proximity sensors such as ultrasonic sensor, sonar and laser range finder for area mapping is believed to be less effective since they do not provide information in Y or Z (horizontal and vertical) direction. The robot may miss an object due to its shape and position; thus increasing the risk of collision as well as inaccurate map. In this paper, a 3D visual device particularly Microsoft Kinect was used to perform area mapping. The 3D depth data from the device's depth sensor was retrieved and converted into 2D map using the presented method. A Graphical User Interface (GUI) was also implemented on the base station to depict the real-time map. It was found that the method applied has successfully mapped the potentially missing objects when using 1D or 2D sensor. The convincing results shown in this paper suggest that the Kinect is suitable for indoor SLAM application given that the device's limitations are solved. 2014-04-30T06:47:49Z 2014-04-30T06:47:49Z 2013-03 Working Paper p. 247-251 978-146735609-1 http://ieeexplore.ieee.org/xpl/articleDetails.jsp?arnumber=6530050 http://dspace.unimap.edu.my:80/dspace/handle/123456789/34193 en Proceeding of The 9th International Colloquium on Signal Processing and its Applications 2013 (CSPA 2013); Institute of Electrical and Electronics Engineers (IEEE)
institution Universiti Malaysia Perlis
building UniMAP Library
collection Institutional Repository
continent Asia
country Malaysia
content_provider Universiti Malaysia Perlis
content_source UniMAP Library Digital Repository
url_provider http://dspace.unimap.edu.my/
language English
topic Image processing
Indoor SLAM
Microsoft Kinect
Navigation
Robotics
spellingShingle Image processing
Indoor SLAM
Microsoft Kinect
Navigation
Robotics
Kamarulzaman, Kamarudin
Syed Muhammad Mamduh, Syed Zakaria
Ali Yeon, Md Shakaff, Prof. Dr.
Shaharil, Mad Saad
Ammar, Zakaria
Latifah Munirah, Kamarudin, Dr.
Abu Hassan, Abdullah, Dr.
Method to convert Kinect's 3D depth data to a 2D map for indoor SLAM
description Proceeding of The 9th International Colloquium on Signal Processing and its Applications 2013 (CSPA 2013) at Kuala Lumpur, Malaysia on 8 March 2013 through 10 March 2013
author2 arul.unimap@gmail.com
author_facet arul.unimap@gmail.com
Kamarulzaman, Kamarudin
Syed Muhammad Mamduh, Syed Zakaria
Ali Yeon, Md Shakaff, Prof. Dr.
Shaharil, Mad Saad
Ammar, Zakaria
Latifah Munirah, Kamarudin, Dr.
Abu Hassan, Abdullah, Dr.
format Working Paper
author Kamarulzaman, Kamarudin
Syed Muhammad Mamduh, Syed Zakaria
Ali Yeon, Md Shakaff, Prof. Dr.
Shaharil, Mad Saad
Ammar, Zakaria
Latifah Munirah, Kamarudin, Dr.
Abu Hassan, Abdullah, Dr.
author_sort Kamarulzaman, Kamarudin
title Method to convert Kinect's 3D depth data to a 2D map for indoor SLAM
title_short Method to convert Kinect's 3D depth data to a 2D map for indoor SLAM
title_full Method to convert Kinect's 3D depth data to a 2D map for indoor SLAM
title_fullStr Method to convert Kinect's 3D depth data to a 2D map for indoor SLAM
title_full_unstemmed Method to convert Kinect's 3D depth data to a 2D map for indoor SLAM
title_sort method to convert kinect's 3d depth data to a 2d map for indoor slam
publisher Institute of Electrical and Electronics Engineers (IEEE)
publishDate 2014
url http://dspace.unimap.edu.my:80/dspace/handle/123456789/34193
_version_ 1643797418364370944
score 13.222552

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