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Low-cost 2-D map generation system for a mobile robot

Abstract:

This work is a proof of concept for an artificial vision system, which allows a robot to create two-dimensional maps of the area over which it moves, while detecting potentially dangerous objects. The proposed system uses a Kinect sensor for object detection, and an IP camera mounted on the roof of the test area for spatial location. Images from both sources are digitally processed on a Raspberry Pi 3 board, in order to locate the robot and potentially dangerous objects within the test area in real time. In this paper, an efficient and low cost system based on simple hardware (low cost, reduced size), with precise and real time distance measurement is proposed, as an aid for robot navigation.