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MRPT Implementation Results

Wed, 04/25/2012 - 04:15 — rknudson

I am posting this for the viewing pleasure of the MRPT community. For a senior project at NDSU, a group of four students were tasked with using open source software to write an autonomous wander algorithm. In addition to the wander algorithm we were tasked with implementing a SLAM algorithm that would run as the robot navigated its surroundings. We were given an ER1 robot, laser range finder, and a Microsoft Kinect to accomplish these tasks

Below are the results of the project.

 

first video - Wide hallway with a few obstacles

 
 
second video - narrower hallway

 
third video - tight loop (close quarters navigation)

 
fourth video - narrow hallway with obstacles 

 
fifth video - SLAM results

 
last video - 2D Map results

 
I would like to extend a big thanks to everyone who has done work on MRPT and the community for the support we have had with questions relating to the project.
 
Cheers!
 
Ryan
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mrpt-users
Fri, 04/27/2012 - 10:24 — jlblanco
jlblanco's picture

Great videos! 

Thanks for sharing your results, I'm sure they will be inspiring for other students.

Hopefully with your permission, I've embedded the videos within your comment itself, for easy of visualization.


Cheers, 
JL

Fri, 04/27/2012 - 11:54 — eng.basim
eng.basim's picture

Hey ! how r ya?
congratulations on this impressive results, I'm trying to do the same here.

and i hope really if you can help me.

I'm trying to construct a map with ICP-SLAM and Kinect. then I would use PF-localization.

 

my question is:

- Did you used the data directly from the kinect inside the library apps?

- How did you overcome the time synchronization problem bet. data from kinect and encoder on the wheel?