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In the movement management system of mobile robots, simultaneous detection of obstacles and creation of obstacles' map in the near field of the mobile robot are extremely urgent and complex tasks. In general, environment around robot is very complicated due to differences in change of lighting conditions and viewing angles. These problems lead to decrease accuracy of obstacles recognition. In this...
This paper presents a method of building 3D indoor maps using the Kinect (RGB-D cameras) in which a depth camera and a color camera are lined up. We first extract SURF (Sped Up Robust Features) from the input color images, and match the current features with the previous ones. The matched features are then transformed to 3D coordinate points data using depth information. The 3D points data sets of...
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