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Three-dimensional mapping with time-of-flight cameras

May, Stefan and Fuchs, Stefan and Droeschel, David and Holz, Dirk and Nuechter, Andreas and Hertzberg, Joachim and Malis, Ezio (2009) Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics (3). Wiley Periodicals, Inc., A Wiley Company. DOI: 10.1002/rob.20321 .

Full text not available from this repository.

Official URL: http://www3.interscience.wiley.com/journal/122608393/abstract


This article investigates the use of time-of-flight (ToF) cameras in mapping tasks for autonomous mobile robots, in particular in simultaneous localization and mapping (SLAM) tasks. Although ToF cameras are in principle an attractive type of sensor for three-dimensional (3D) mapping owing to their high rate of frames of 3D data, two features make them difficult as mapping sensors, namely, their restricted field of view and influences on the quality of range measurements by high dynamics in object reflectivity; in addition, currently available models suffer from poor data quality in a number of aspects. The paper first summarizes calibration and filtering approaches for improving the accuracy, precision, and robustness of ToF cameras independent of their intended usage. Then, several ego motion estimation approaches are applied or adapted, respectively, in order to provide a performance benchmark for registering ToF camera data. As a part of this, an extension to the iterative closest point algorithm has been developed that increases the robustness under restricted field of view and under larger displacements. Using an indoor environment, the paper provides results from SLAM experiments using these approaches in comparison. It turns out that the application of ToF cameras is feasible to SLAM tasks, although this type of sensor has a complex error characteristic

Document Type:Article
Title:Three-dimensional mapping with time-of-flight cameras
AuthorsInstitution or Email of Authors
May, Stefan Fraunhofer IAIS, Schloss Birlinghoven, Sankt Augustin
Droeschel, David Fraunhofer IAIS, Schloss Birlinghoven, Sankt Augustin
Holz, Dirk Fraunhofer IAIS, Schloss Birlinghoven, Sankt Augustin
Nuechter, Andreas Jacobs University Bremen
Hertzberg, Joachim University of Osnabrück
Malis, Ezio INRIA, Sophia-Antipolis, France
Date:20 October 2009
Journal or Publication Title:Journal of Field Robotics
Refereed publication:Yes
In ISI Web of Science:Yes
Publisher:Wiley Periodicals, Inc., A Wiley Company
Series Name:Special Issue: Three-Dimensional Mapping
Keywords:3D Mapping, Time-of-Flight Cameras
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:15 Jan 2010 08:31
Last Modified:26 Feb 2013 15:04

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