| Autor: |
Dalmedico N; Graduate Program in Electrical and Computer Engineering (CPGEI), Universidade Tecnológica Federal do Paraná (UTFPR), Curitiba PR 80230-901, Brazil., Simões Teixeira MA; Graduate Program in Electrical and Computer Engineering (CPGEI), Universidade Tecnológica Federal do Paraná (UTFPR), Curitiba PR 80230-901, Brazil., Barbosa Santos H; Graduate Program in Electrical and Computer Engineering (CPGEI), Universidade Tecnológica Federal do Paraná (UTFPR), Curitiba PR 80230-901, Brazil., Nogueira RCM; Graduate Program in Electrical and Computer Engineering (CPGEI), Universidade Tecnológica Federal do Paraná (UTFPR), Curitiba PR 80230-901, Brazil., Ramos de Arruda LV; Graduate Program in Electrical and Computer Engineering (CPGEI), Universidade Tecnológica Federal do Paraná (UTFPR), Curitiba PR 80230-901, Brazil., Neves F Jr; Graduate Program in Electrical and Computer Engineering (CPGEI), Universidade Tecnológica Federal do Paraná (UTFPR), Curitiba PR 80230-901, Brazil., Pipa DR; Graduate Program in Electrical and Computer Engineering (CPGEI), Universidade Tecnológica Federal do Paraná (UTFPR), Curitiba PR 80230-901, Brazil., Ramos JE; Centro de Pesquisas Leopoldo Américo Miguez de Mello (CENPES), Rio de Janeiro RJ 21941-915, Brazil., Schneider de Oliveira A; Graduate Program in Electrical and Computer Engineering (CPGEI), Universidade Tecnológica Federal do Paraná (UTFPR), Curitiba PR 80230-901, Brazil. |
| Abstrakt: |
This paper presents an omnidirectional RGB-D (RGB + Distance fusion) sensor prototype using an actuated LIDAR (Light Detection and Ranging) and an RGB camera. Besides the sensor, a novel mapping strategy is developed considering sensor scanning characteristics. The sensor can gather RGB and 3D data from any direction by toppling in 90 degrees a laser scan sensor and rotating it about its central axis. The mapping strategy is based on two environment maps, a local map for instantaneous perception, and a global map for perception memory. The 2D local map represents the surface in front of the robot and may contain RGB data, allowing environment reconstruction and human detection, similar to a sliding window that moves with a robot and stores surface data. |
