Resumen de Autonomous Robot Navigation by Area Centroid Algorithm Using Depth Cameras

Antonio Marín García, José Manuel Cuadra Troncoso , Félix de la Paz López , Jose Ramón Álvarez

• 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).