Sliding Window Mapping for Omnidirectional RGB-D Sensors.
This paper presents an omnidirectional RGB-D (RGB + Distance fusion) sensor prototype using an actuated LIDAR (Light Detection and Ranging) and an RGB camera. Besides the sensor, a novel mapping strategy is developed considering sensor scanning characteristics. The sensor can gather RGB and 3D data from any direction by toppling in 90 degrees a laser scan sensor and rotating it about its central axis. The mapping strategy is based on two environment maps, a local map for instantaneous perception, and a global map for perception memory. The 2D local map represents the surface in front of the robot and may contain RGB data, allowing environment reconstruction and human detection, similar to a sliding window that moves with a robot and stores surface data.
['Dalmedico|Nicolas|N|', 'Simões Teixeira|Marco Antônio|MA|', 'Barbosa Santos|Higor|H|0000-0003-4529-3778', 'Nogueira|Rafael de Castro Martins|RCM|', 'Ramos de Arruda|Lúcia Valéria|LV|0000-0002-5704-8131', 'Neves|Flávio|F|', 'Pipa|Daniel Rodrigues|DR|0000-0002-9398-332X', 'Ramos|Júlio Endress|JE|', 'Schneider de Oliveira|André|A|']
mapping omnidirectional RGB-D sensor LIDAR deep-learning mobile robots