Design of three-dimensional reconstruction and robot path planning based on kinect system

Abstract

This paper addressed the problem of three-dimensional reconstruction using the Kinect system and robot path planning based on the improved ant colony algorithm (IACA). Firstly, we established a three-dimensional model by means of Kinect equipment, in light of which, the information of the obstacles was extracted. Then, we utilized the IACA to solve the problem of path planing as the changing pheromone evaporation coefficient ρ can dramatically enhance the convergence of algorithm. A simulation example was finally carried out to illustrate the effectiveness of the system and the optimal path was visually displayed in the three-dimensional model.