Learning Robotics using Python - Second Edition

Kinect/Orbbec Astra

Kinect is a 3D-vision sensor, mainly used in 3D-vision applications and motion-based gaming. We are using Kinect for 3D vision. Using Kinect, the robot will get a 3D image of the surrounding. The 3D images are converted to finer points that are gathered to form a point cloud. The point cloud data will have all the 3D parameters that constitute the surrounding environment.

The main use of Kinect on the robot is to mock the functionality of a laser scanner. The laser scanner data is essential for the SLAM algorithm to build a map of the environment. The laser scanner is a very costly device, so instead of buying an expensive laser scanner, we can convert a Kinect into a virtual laser scanner. Kinect has officially stopped ...