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引用次数: 8
摘要
移动机器人常用于消防、医疗、家政等。首先要解决的问题是导航，而移动机器人导航中最重要的部分是三维重建，这也是本文的主要内容。在本文中，我们比较了几种常见的RGB-D设备，包括微软Kinect，英特尔RealSense R200，华硕Xtion PRO Live。第二章通过对设备的比较，介绍了室内环境下两种主要的三维重建方法。最后对ICP算法进行了改进。
Applications of RGB-D data for 3D reconstruction in the indoor environment
Mobile robot is commonly used for firefighting, medical treatment, housekeeping, etc. The first trouble we should solve is navigation, and the most important part of mobile robot navigation is 3D reconstruction, which is also main part of this paper. In this paper, we compare several common RGB-D devices including Microsoft Kinect, Intel RealSense R200, Asus Xtion PRO Live. Then two main methods of 3D reconstruction in the indoor environment are introduced in the next chapter after comparison of devices. Variants of the ICP algorithm are followed at last.
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