Distributed Localization and Scene Reconstruction from RGB-D Data

Sergio Ayuso, Carlos Sagüés, Rosario Aragüés

2013

Abstract

In this paper we present a method to make every robot of a team to compute a global 3D map of the scenarios explored by all the members, obtaining also the trajectories of the team. Every robot has a RGB-D device on board which gives RGB and depth data simultaneously and uses this information to build its own local map in real time. Once all robots have formed their local maps, they start a communication process to transform all maps to a common reference and merge them. The interest of this work is related to the establishment of the global reference and the management of the local point clouds to get correspondences between local maps which make possible to obtain the best possible transformation from the reference of every robot to the global reference.

Paper Citation

in Harvard Style

Ayuso S., Sagüés C. and Aragüés R. (2013). Distributed Localization and Scene Reconstruction from RGB-D Data . In Proceedings of the 10th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO, ISBN 978-989-8565-71-6, pages 377-384. DOI: 10.5220/0004485103770384

in Bibtex Style

@conference{icinco13,
author={Sergio Ayuso and Carlos Sagüés and Rosario Aragüés},
title={Distributed Localization and Scene Reconstruction from RGB-D Data},
booktitle={Proceedings of the 10th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,},
year={2013},
pages={377-384},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0004485103770384},
isbn={978-989-8565-71-6},
}

in EndNote Style

TY - CONF
JO - Proceedings of the 10th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,
TI - Distributed Localization and Scene Reconstruction from RGB-D Data
SN - 978-989-8565-71-6
AU - Ayuso S.
AU - Sagüés C.
AU - Aragüés R.
PY - 2013
SP - 377
EP - 384
DO - 10.5220/0004485103770384