3D environment mapping using the Kinect V2 and path planning based on RRT algorithms

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Título:	3D environment mapping using the Kinect V2 and path planning based on RRT algorithms
Autor/a:	Aguilar Castillo, Wilbert Geovanny; Morales, Stephanie G.
Otros autores:	Universitat Politècnica de Catalunya. Departament d'Enginyeria de Sistemes, Automàtica i Informàtica Industrial; Universitat Politècnica de Catalunya. GREC - Grup de Recerca en Enginyeria del Coneixement
Abstract:	This paper describes a 3D path planning system that is able to provide a solution trajectory for the automatic control of a robot. The proposed system uses a point cloud obtained from the robot workspace, with a Kinect V2 sensor to identify the interest regions and the obstacles of the environment. Our proposal includes a collision-free path planner based on the Rapidly-exploring Random Trees variant (RRT), for a safe and optimal navigation of robots in 3D spaces. Results on RGB-D segmentation and recognition, point cloud processing, and comparisons between different RRT algorithms, are presented.
Abstract:	Peer Reviewed
Materia(s):	-Àrees temàtiques de la UPC::Informàtica::Robòtica -Mobile robots--Automatic control -path planning -RRT -RRT* -point cloud registration -3D modeling -mobile robotics -RGB-D segmentation -computational geometry -Robots mòbils -- Control automàtic
Derechos:	Attribution 3.0 Spain http://creativecommons.org/licenses/by/3.0/es/
Tipo de documento:	Artículo - Versión publicada Artículo
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Aguilar Castillo, Wilbert Geovanny; Angulo Bahón, Cecilio

Aguilar Castillo, Wilbert Geovanny; Angulo Bahón, Cecilio

Aguilar Castillo, Wilbert Geovanny; Casaliglla, Veronica P.; Polit, Jose L.

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