|3Dnav - 3D mapping, exploration, navigation and people detection with a mobile robot using a RGBD sensor|
Seminar by Francisco Sales (preparation for M.Sc. defense)
Synopsis: The main goal in this work is to use a RGBD sensor, e.g. the well-known Kinect sensor, in a mobile robot to perform autonomous mapping, exploration, navigation, and people detection/localization in unknown environments. Methods for detecting people using both dense depth information and auditory cues were studied, implemented and tested in ROS. The motivation of the work has been the CHOPIN project where mobile robots are a valuable asset to perform the initial reconnaissance of an indoor incident zone and the localization of victims, e.g. after the leakage of a hazardous substance in an industrial facility.
Supervisor: Prof. Rui P. Rocha, Co-supervisor: Dr. David Portugal