A low cost collision avoidance system based on a ToF camera for SLAM approaches
Indoor positioning is a problem that has not yet been solved efficiently and accurately. In outdoors the most effective solution is the Global Position System (GPS), but it cannot be used indoors due to the weakening of the signal, so other solutions have been studied. These approaches could be app...
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| Format: | Article |
| Language: | English |
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Instituto Tecnológico de Costa Rica
2022-11-01
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| Series: | Tecnología en Marcha |
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| Online Access: | https://172.20.14.50/index.php/tec_marcha/article/view/6465 |
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| author | Dayron Romero-Godoy David Sánchez-Rodríguez Itziar Alonso-González Francisco Delgado-Rajó |
| author_facet | Dayron Romero-Godoy David Sánchez-Rodríguez Itziar Alonso-González Francisco Delgado-Rajó |
| author_sort | Dayron Romero-Godoy |
| collection | DOAJ |
| description |
Indoor positioning is a problem that has not yet been solved efficiently and accurately. In outdoors the most effective solution is the Global Position System (GPS), but it cannot be used indoors due to the weakening of the signal, so other solutions have been studied. These approaches could be applied to define a map for the guidance of blind people, tourism or navigation for autonomous robots. In this paper, the study, design, implementation and evaluation of a robust obstacle detection and mapping system is proposed. Thus, it can be used to alert of near objects presence and avoid possible collisions in an indoor navigation. The system is based on a Time-of-Flight (ToF) camera and a Single Board Computer (SBC) like Raspberry PI or NVIDIA Jetson Nano. In order to evaluate the system several real experiments were carried out. This kind of system can be integrated on a wheelchair and help the handicapped person to move indoors or take data from an indoor environment and recreate it in a 2D or 3D images.
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| format | Article |
| id | doaj-art-eb9c14e1158b47de97ed7c154e97afab |
| institution | OA Journals |
| issn | 0379-3982 2215-3241 |
| language | English |
| publishDate | 2022-11-01 |
| publisher | Instituto Tecnológico de Costa Rica |
| record_format | Article |
| series | Tecnología en Marcha |
| spelling | doaj-art-eb9c14e1158b47de97ed7c154e97afab2025-08-20T02:22:20ZengInstituto Tecnológico de Costa RicaTecnología en Marcha0379-39822215-32412022-11-0135810.18845/tm.v35i8.6465A low cost collision avoidance system based on a ToF camera for SLAM approachesDayron Romero-GodoyDavid Sánchez-RodríguezItziar Alonso-GonzálezFrancisco Delgado-Rajó Indoor positioning is a problem that has not yet been solved efficiently and accurately. In outdoors the most effective solution is the Global Position System (GPS), but it cannot be used indoors due to the weakening of the signal, so other solutions have been studied. These approaches could be applied to define a map for the guidance of blind people, tourism or navigation for autonomous robots. In this paper, the study, design, implementation and evaluation of a robust obstacle detection and mapping system is proposed. Thus, it can be used to alert of near objects presence and avoid possible collisions in an indoor navigation. The system is based on a Time-of-Flight (ToF) camera and a Single Board Computer (SBC) like Raspberry PI or NVIDIA Jetson Nano. In order to evaluate the system several real experiments were carried out. This kind of system can be integrated on a wheelchair and help the handicapped person to move indoors or take data from an indoor environment and recreate it in a 2D or 3D images. https://172.20.14.50/index.php/tec_marcha/article/view/6465TOF cameraSBCSLAMobstacle detectionindoor localization |
| spellingShingle | Dayron Romero-Godoy David Sánchez-Rodríguez Itziar Alonso-González Francisco Delgado-Rajó A low cost collision avoidance system based on a ToF camera for SLAM approaches Tecnología en Marcha TOF camera SBC SLAM obstacle detection indoor localization |
| title | A low cost collision avoidance system based on a ToF camera for SLAM approaches |
| title_full | A low cost collision avoidance system based on a ToF camera for SLAM approaches |
| title_fullStr | A low cost collision avoidance system based on a ToF camera for SLAM approaches |
| title_full_unstemmed | A low cost collision avoidance system based on a ToF camera for SLAM approaches |
| title_short | A low cost collision avoidance system based on a ToF camera for SLAM approaches |
| title_sort | low cost collision avoidance system based on a tof camera for slam approaches |
| topic | TOF camera SBC SLAM obstacle detection indoor localization |
| url | https://172.20.14.50/index.php/tec_marcha/article/view/6465 |
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