The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)
Online ISSN : 2424-3124
2010
Session ID : 2P1-B07
Conference information
2P1-B07 A method of 3D extension to 2D SLAM using box detection RT component from visual information
Hiroaki YAGUCHITomoaki YOSHIKAIKei OKADAMasayuki INABA
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CONFERENCE PROCEEDINGS FREE ACCESS

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Abstract
In this paper, we propose a 3D extension method to planar map information in 2D SLAM from visual information using RT middleware. Extension for 2D SLAM software is realized by cubic shaped object detection with stereo vision to detect 3D obstacle. 3D objects are described as primitive cube to apply another task such as manipulation. Experimental results shows 3D extension can detect obstacles that is impossible to detect by a 2D range sensor.
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© 2010 The Japan Society of Mechanical Engineers
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