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Robust 3D-Mapping with Time-of-Flight Cameras

Fuchs, Stefan and Nüchter, Andreas and May, Stefan and Dröschel, David and Holz, Dirk (2009) Robust 3D-Mapping with Time-of-Flight Cameras. In: Proceedings. IROS, International Conference on Intelligent Robots and Systems, 11. Okt. -15. Okt. 2009, St. Louis, USA.

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Abstract

Time-of-Flight cameras constitute a smart and fast technology for 3D perception but lack in measurement precision and robustness. We present a comprehensive approach for 3D environment mapping based on this technology. Imprecision of depth measurements are properly handled by calibration and application of several filters. Robust registration is performed by a novel extension to the Iterative Closest Point algorithm. Remaining registration errors are reduced by global relaxation after loop-closure and surface smoothing. A laboratory ground truth evaluation is provided as well as 3D mapping experiments in a larger indoor environment.

Document Type:Conference or Workshop Item (Speech, Paper)
Title:Robust 3D-Mapping with Time-of-Flight Cameras
Authors:
AuthorsInstitution or Email of Authors
Fuchs, Stefanstefan.fuchs@dlr.de
Nüchter, Andreasandreas@nuechti.de
May, Stefanstefan_may@arcor.de
Dröschel, DavidFraunhofer IAIS
Holz, DirkFraunhofer IAIS
Date:11 October 2009
Journal or Publication Title:Proceedings
Refereed publication:Yes
In ISI Web of Science:No
Status:Published
Keywords:3D-Mapping, Time-of-Flight Cameras
Event Title:IROS, International Conference on Intelligent Robots and Systems
Event Location:St. Louis, USA
Event Type:international Conference
Event Dates:11. Okt. -15. Okt. 2009
Organizer:IEEE
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 - Mechatronik und Dynamik (old)
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics > Robotic Systems
Deposited By: Gabriele Beinhofer
Deposited On:14 Jan 2010 16:35
Last Modified:12 Dec 2013 20:52

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