Robot Positioning System Based on Kinect Sensor in Indoor Environment

Robot positioning technology has been widely used in many fields. The research of this technique is a hot topic in robotics. In this paper, First of all, the infrared camera of Kinect is calibrated by clicking corners manually and the corner position is optimized, and then the relative pose of RGB camera and infrared camera for Kinect is calibrated, furthermore, the floor plane is detected by gravity acceleration vector which is obtained from gravity sensor of Kinect. At last, the system accomplishes robot's barrier-avoiding capabilities in indoor environment. The experiments show robustness of the system is very strong, a good performance on robot positioning technology in indoor environment is achieved.