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Tackling Multi-sensory 3D Data Acquisition and Fusion

Bodenmüller, Tim and Sepp, Wolfgang and Suppa, Michael and Hirzinger, Gerd (2007) Tackling Multi-sensory 3D Data Acquisition and Fusion. In: Proceedings of IROS, pp. 2180-2185. IEEE. RSJ International Conference on Intelligent Robots and Systems, 2007-10-29 - 2007-11-02, San Diego, CA, USA.

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Abstract

The development of applications for multi-sensor data fusion typically faces heterogeneous hardware components, a variety of sensing principles and limited computational resources. We present a concept for synchronization and communication which tackles these challenges in multi-sensor systems in a unified manner. Here, a combination of hardware synchronization and deterministic software signals is promoted for global synchronization. Patterns of event-driven communication ensure that sensor data processing and evaluation are not bound to runtime constraints induced by data acquisition anymore. The combination of unified range and pose data description, event-driven communication, and global synchronization allows to build 3dsensing applications for various tasks. The proposed concept is implemented and evaluated for a variety of applications based on the DLR Multisensory 3D-Modeller. Extendability to other range and pose sensors is straight forward.

Document Type:Conference or Workshop Item (Speech, Paper)
Title:Tackling Multi-sensory 3D Data Acquisition and Fusion
Authors:
AuthorsInstitution or Email of Authors
Bodenmüller, TimUNSPECIFIED
Sepp, WolfgangUNSPECIFIED
Suppa, MichaelUNSPECIFIED
Hirzinger, GerdUNSPECIFIED
Date:29 October 2007
Journal or Publication Title:Proceedings of IROS
Refereed publication:Yes
In ISI Web of Science:No
Page Range:pp. 2180-2185
Publisher:IEEE
Status:Published
Keywords:Multi-sensory, 3D Data
Event Title:RSJ International Conference on Intelligent Robots and Systems
Event Location:San Diego, CA, USA
Event Type:international Conference
Event Dates:2007-10-29 - 2007-11-02
HGF - Research field:Aeronautics, Space and Transport (old)
HGF - Program:Space (old)
HGF - Program Themes:W SY - Technik für Raumfahrtsysteme
DLR - Research area:Space
DLR - Program:W SY - Technik für Raumfahrtsysteme
DLR - Research theme (Project):W - Weiterentwicklung Robotik - Telerobotik und Autonomie (old)
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics > Robotic Systems
Deposited By: Gabriele Beinhofer
Deposited On:17 Jan 2008
Last Modified:12 Dec 2013 20:29

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