Improving 2D Reactive Navigators with Kinect

@inproceedings{Gonzlez2013Improving2R,
  title={Improving 2D Reactive Navigators with Kinect},
  author={Javier Gonz{\'a}lez and Jos{\'e}-Ra{\'u}l Ruiz-Sarmiento and Cipriano Galindo},
  booktitle={ICINCO},
  year={2013}
}
Most successful mobile robots rely on 2D radial laser scanners for perceiving the environment. The use of these sensors for reactive navigation has a serious limitation: the robot can only detect obstacles in the plane scanned by the sensor, with the consequent risk of collision with objects out of this plane. The recent commercialization of RGB-D cameras, like Kinect, opens new possibilities in this respect. In this paper we address the matter of adding the 3D information provided by these… CONTINUE READING
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