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저가형 깊이 카메라를 이용한 이동로봇의 실내 지도작성 및 위치추정
김태연(Taeyon Kim),정하영(Hahyoung Jung),유준(Joon Lyou) 제어로봇시스템학회 2011 제어로봇시스템학회 합동학술대회 논문집 Vol.1 No.1
This paper presents a method for an indoor SLAM(Simultaneous Localization And Mapping) using a low-cost depth camera. The related equation between the output of the depth camera and the distance is derived experimentally and the color image ins matched with the depth image by geometric calibration method. From the color image, SIFT(Scale Invariant Feature Transform) features are extracted and the conventional EKF(Extended Kalman Filter) based SLAM is conducted. Experimental results in indoor corridor are shown to evaluate the performance of the presented method.