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Sensors 2014, 14(12), 23365-23387; doi:10.3390/s141223365

Performance Analysis of the Microsoft Kinect Sensor for 2D Simultaneous Localization and Mapping (SLAM) Techniques

1
Center of Excellence for Advanced Sensor Technology (CEASTech), Universiti Malaysia Perlis (UniMAP), Taman Muhibbah, Jejawi, 02600 Arau, Perlis, Malaysia
2
School of Mechatronics Engineering, Universiti Malaysia Perlis (UniMAP), Pauh Putra Campus, 02600 Arau, Perlis, Malaysia
3
School of Microelectronic Engineering, Universiti Malaysia Perlis (UniMAP), Pauh Putra Campus, 02600 Arau, Perlis, Malaysia
*
Author to whom correspondence should be addressed.
Received: 7 August 2014 / Revised: 29 September 2014 / Accepted: 30 October 2014 / Published: 5 December 2014
(This article belongs to the Section Physical Sensors)
View Full-Text   |   Download PDF [2810 KB, uploaded 5 December 2014]   |  

Abstract

This paper presents a performance analysis of two open-source, laser scanner-based Simultaneous Localization and Mapping (SLAM) techniques (i.e., Gmapping and Hector SLAM) using a Microsoft Kinect to replace the laser sensor. Furthermore, the paper proposes a new system integration approach whereby a Linux virtual machine is used to run the open source SLAM algorithms. The experiments were conducted in two different environments; a small room with no features and a typical office corridor with desks and chairs. Using the data logged from real-time experiments, each SLAM technique was simulated and tested with different parameter settings. The results show that the system is able to achieve real time SLAM operation. The system implementation offers a simple and reliable way to compare the performance of Windows-based SLAM algorithm with the algorithms typically implemented in a Robot Operating System (ROS). The results also indicate that certain modifications to the default laser scanner-based parameters are able to improve the map accuracy. However, the limited field of view and range of Kinect’s depth sensor often causes the map to be inaccurate, especially in featureless areas, therefore the Kinect sensor is not a direct replacement for a laser scanner, but rather offers a feasible alternative for 2D SLAM tasks. View Full-Text
Keywords: Microsoft Kinect sensor; 2D SLAM; robotics; integrated system; sensor; virtual machine; Robot Operating System Microsoft Kinect sensor; 2D SLAM; robotics; integrated system; sensor; virtual machine; Robot Operating System
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This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited. (CC BY 4.0).

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MDPI and ACS Style

Kamarudin, K.; Mamduh, S.M.; Shakaff, A.Y.M.; Zakaria, A. Performance Analysis of the Microsoft Kinect Sensor for 2D Simultaneous Localization and Mapping (SLAM) Techniques. Sensors 2014, 14, 23365-23387.

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