Local Generating Map System Using Rviz ROS and Kinect Camera for Rescue Robot Application

Authors

  • Syahri Muharom Institut Teknologi Adhi Tama Surabaya
  • Riza Agung Firmansyah Institut Teknologi Adhi Tama Surabaya
  • Yuliyanto Agung Prabowo Institut Teknologi Adhi Tama Surabaya

Abstract

This paper presents a model to generate a 3D model of a room, where room mapping is very necessary to find out the existing real conditions, where this modeling will be applied to the rescue robot. To solve this problem, researchers made a breakthrough by creating a 3D room mapping system. The mapping system and 3D model making carried out in this study are to utilize the camera Kinect and Rviz on the ROS. The camera takes a picture of the area around it, the imagery results are processed in the ROS system, the processing carried out includes several nodes and topics in the ROS which later the signal results are sent and displayed on the Rviz ROS. From the results of the tests that have been carried out, the designed system can create a 3D model from the Kinect camera capture by utilizing the Rviz function on the ROS. From this model later every corner of the room can be mapped and modeled in 3D

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Published

2024-04-19

Issue

Vol. 69 No. 3 (2023)

Section

Control, Automation and Robotics

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