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Three-dimensional mapping with time-of-flight cameras

May, Stefan und Fuchs, Stefan und Droeschel, David und Holz, Dirk und Nuechter, Andreas und Hertzberg, Joachim und 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

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Offizielle 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

Titel:Three-dimensional mapping with time-of-flight cameras
AutorenInstitution oder E-Mail-AdresseAutoren-ORCID-iD
May, Stefan Fraunhofer IAIS, Schloss Birlinghoven, Sankt AugustinNICHT SPEZIFIZIERT
Droeschel, David Fraunhofer IAIS, Schloss Birlinghoven, Sankt AugustinNICHT SPEZIFIZIERT
Holz, Dirk Fraunhofer IAIS, Schloss Birlinghoven, Sankt AugustinNICHT SPEZIFIZIERT
Nuechter, Andreas Jacobs University BremenNICHT SPEZIFIZIERT
Hertzberg, Joachim University of OsnabrückNICHT SPEZIFIZIERT
Malis, Ezio INRIA, Sophia-Antipolis, FranceNICHT SPEZIFIZIERT
Datum:20 Oktober 2009
Erschienen in:Journal of Field Robotics
Referierte Publikation:Ja
In Open Access:Nein
In ISI Web of Science:Ja
DOI :10.1002/rob.20321
Verlag:Wiley Periodicals, Inc., A Wiley Company
Name der Reihe:Special Issue: Three-Dimensional Mapping
Stichwörter:3D Mapping, Time-of-Flight Cameras
HGF - Forschungsbereich:Verkehr und Weltraum (alt)
HGF - Programm:Weltraum (alt)
HGF - Programmthema:W SY - Technik für Raumfahrtsysteme
DLR - Schwerpunkt:Weltraum
DLR - Forschungsgebiet:W SY - Technik für Raumfahrtsysteme
DLR - Teilgebiet (Projekt, Vorhaben):W - Weiterentwicklung Robotik - Telerobotik und Autonomie (alt)
Standort: Oberpfaffenhofen
Institute & Einrichtungen:Institut für Robotik und Mechatronik (bis 2012) > Robotersysteme
Hinterlegt von: Beinhofer, Gabriele
Hinterlegt am:15 Jan 2010 08:31
Letzte Änderung:26 Feb 2013 15:04

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