Obstacle detection with Kinect V2 on a ground robot

Laurin Fisher
Wed, 22 Apr 2026 17:42:39 PDT

This paper is about determining whether using a Kinect V2 (Xbox One Kinect) mounted on a LAYLA ground robot can be used to detect obstacles, by generating a heightmap with the depth data. We take several factors into consideration including: framerate, power consumption, field of view, and data noise.