Construction of Roadmaps for mobile robots’ navigation using RGB-D cameras

Abstract

This paper describes the construction of roadmaps formobile robots using vector quantization clustering of the free space. A RGB-D camera is used to find planes that represent objects in the environment as well as walls and floors. The free space is found by separating the objects’ andwalls’ planes from the floor’s plane, that represents the space where the mobile robot navigates. Vector quantization technique is used to partition the free space into regions, and the centroids of the regions become the nodes of a roadmap, that is used by a mobile robot to navigate.