Mapping of indoor environments with Kinect 2 sensor and ROS system

• Grant number: 17/23719-1
• Support type: Scholarships in Brazil - Scientific Initiation
• Effective date (Start): January 01, 2019
• Effective date (End): December 31, 2019
• Field of knowledge: Engineering - Electrical Engineering - Industrial Electronics, Electronic Systems and Controls
• Principal Investigator: Marco Henrique Terra
• Grantee: Douglas Dellacruci Goulart
• Home Institution: Escola de Engenharia de São Carlos (EESC). Universidade de São Paulo (USP). São Carlos , SP, Brazil
• Associated research grant: 14/50851-0 - INCT 2014: National Institute of Science and Technology for Cooperative Autonomous Systems Applied in Security and Environment, AP.TEM

Abstract

Nowadays, the demand for optical sensors with faster, cheaper and more accurate technologies has grown tremendously. However with this advance, there is also a need for an increase in speed of processing and treatment of this kind of data. With increasingly advanced applications, these sensors have allowed certain moving bodies to move around in environments in order to locate and avoid possible collisions in a simultaneous location and mapping environment system (SLAM). Throughout this project will be studied techniques of mapping and location of moving bodies applied to a Kinect sensor. Firstly, a study of the bibliography related to these techniques will be done so that it is possible to perform a data collection later. After analyzing the data, it will be possible to identify and implement the best mapping technique applicable to the project.