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Construction of Roadmaps for Mobile Robots’ Navigation Using RGB-D Cameras

  • Jesus Savage
  • Luis Contreras
  • Israel Figueroa
  • Abel Pacheco
  • Alejandro Bermudez
  • Marco Negrete
  • Mauricio Matamoros
  • Carlos Rivera
Conference paper
Part of the Advances in Intelligent Systems and Computing book series (AISC, volume 302)

Abstract

This paper describes the construction of roadmaps for mobile robots using vector quantization clustering of the free space. A RGB-D camera is used to find planes that represent objects in the environment as well as walls and floors. The free space is found by separating the objects’ and walls’ planes from the floor’s plane, that represents the space where the mobile robot navigates. Vector quantization technique is used to partition the free space into regions, and the centroids of the regions become the nodes of a roadmap, that is used by a mobile robot to navigate.

Keywords

Space representations Roadmaps for mobile robots Vector quantization clustering 

Notes

Acknowledgments

This work was supported by PAPIIT-DGAPA UNAM under Grant IN-107609

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Copyright information

© Springer International Publishing Switzerland 2016

Authors and Affiliations

  • Jesus Savage
    • 1
  • Luis Contreras
    • 1
  • Israel Figueroa
    • 1
  • Abel Pacheco
    • 1
  • Alejandro Bermudez
    • 1
  • Marco Negrete
    • 1
  • Mauricio Matamoros
    • 1
  • Carlos Rivera
    • 1
  1. 1.Bio-Robotics LaboratoryUniversidad Nacional Autónoma de México, UNAMMexico, DFMexico

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