A Kinect-based indoor mobile robot localization

Abstract

Tele-robotic localization systems vary in implementation, but the cost of building such solutions is high. Therefore, utilizing such solutions in complex areas becomes a very difficult choice. Can we send a high-end costly solution to a hazardous or military location where it can be destroyed or lost? Or is it feasible to use such solution in routine work at home or in office for example? To answer these questions, we propose to use a low-cost localization solution that consists of a low cost Kinect sensor along with a normal laptop to control a small mobile robot. Our proposed solution involves a tele-operated or controlled mobile robot for collecting information and building a global map of an unknown environment on a remote workstation. The information that is depth data are communicated wirelessly. The global localized map is to be used for local dynamic navigation at a later stage. Experimental results confirm the success of the prototype design and implementation.