A cost effective open-source three-dimensional reconstruction system and trajectory analysis for mobile robots

• Published in: 5th ISSNIP-IEEE Biosignals and Biorobotics Conference (2014): Biosignals and Robotics for Better and Safer Living (BRC) pp. 1 - 5
• Main Authors: Ferrari Pinto, Rafael, Conceicao, Andre G. S., Farias, P. C. M. A., Santos, Eduardo T. F.
• Format: Conference Proceeding
• Language: English
• Published: IEEE 01-05-2014
• Subjects: 3D Reconstruction; Cameras; Computer Vision; Image color analysis; Image reconstruction; Kinect; Mobile robots; Robots; Sensors; Three-dimensional displays; Trajectory; Trajectory planning
• ISSN: 2326-7771; 2326-7844
• DOI: 10.1109/BRC.2014.6880968

This paper discusses the acquisition of image and depth data from the Microsoft Kinect's sensors for the subsequent reconstruction of a tridimensional environment, also emphasizing the stage of data pre-processing. Additionally, an algorithm that uses 3D reconstruction in order to verify if a selected trajectory is a viable route without obstacles along its path is proposed. Results from tridimensional environment reconstructions and viable trajectories are presented to demonstrate the performance of the approach.