Occupancy grid map generation using 360° scanning xtion pro live for indoor mobile robot navigation

摘要

Aim of this paper is to develop a 2d occupancy grid map of an unstructured environment using a scanning depth image for navigation of an omni robot platform. Xtion Pro live depth image sensor along with a dynamixel motor based rotating platform has been used to generate panoramic depth image for creating occupancy map. From the generated occupancy map, we can use static and dynamic navigation algorithm for autonomous indoor navigation.