Autonomous Robot Navigation by Area Centroid Algorithm Using Depth Cameras

• Francisco Antonio Marín García ^[1] ; José Manuel Cuadra Troncoso ^[1] ; Félix de la Paz López ^[1] ; José Ramón Álvarez-Sánchez ^[1]
  1. [1] Univ. Nacional de Educación a Distancia, Madrid, Spain
• Localización: Bio-inspired Systems and Applications: from Robotics to Ambient Intelligence: 9th International Work-Conference on the Interplay Between Natural and Artificial Computation, IWINAC 2022, Puerto de la Cruz, Tenerife, Spain, May 31 – June 3, 2022, Proceedings, Part II / José Manuel Ferrández Vicente (dir. congr.) , José Ramón Álvarez Sánchez (dir. congr.) , Félix de la Paz López (dir. congr.) , Hojjat Adeli (aut.), 2022, ISBN 978-3-031-06527-9, págs. 264-275
• Idioma: inglés
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• Resumen

  • This work tries to demonstrate how the use of depth map cameras has considerable advantages compared to laser range measurements. As is known, the laser 2D can only see objects in a single plane, its scanning plane. Then, when using depth map cameras, we have as many planes as the vertical resolution the camera has. In addition, it is possible to derive, with this way of measuring the environment, the height of the objects above the ground, giving the system the 3D characteristic. As we will demonstrate, this 3D feature is not required to navigate a robot under an object (a bridge, for example).