Generation of Laser-Quality 2D Navigation Maps from RGB-D Sensors
The use of RGB-D cameras has become an affordable solution for robot mapping and navigation in contrast to expensive 2D laser range finders. Although these sensors provide richer information about the 3D environment, most successful mapping and navigation techniques for mobile robots have been developed considering a 2D planar environment. In this paper, we present our system for 2D navigation using RGB-D sensors.