Object avoidance and wall following using the Kinect
| Title: | Object avoidance and wall following using the Kinect |
| Author: | Schwab, Carl William |
| Abstract: | The range camera in Microsoft's Kinect, intended for the Xbox 360 gaming console, offers a powerful alternative to the many standard sensors used in robotics for gathering spatial information about a robot’s surroundings. The recently-released Kinect is the first commercially available product to provide depth data of its resolution and accuracy with a price tag within reach of many robotics projects. The work described in this paper explores the feasibility of using this sensor by developing a robot that relies solely on the Kinect for sensory data. This robot successfully performs standard navigational procedures, demonstrating the possibility of integrating spatial information from the Kinect into a real-time robotics application. This paper documents the techniques used to integrate the Kinect into the system, highlighting the key benefits and limitations of the sensor. |
| Department: | Electrical and Computer Engineering |
| Subject: |
Range imaging
Autonomous navigation Robotics |
| URI: | http://hdl.handle.net/2152/ETD-UT-2011-12-4559 |
| Date: | 2011-12 |
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