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DLR VR-SCAN: A versatile and robust miniaturized laser scanner for short range 3D-modelling and exploration in robotics

Kielhöfer, Simon and Bahls, Thomas and Hacker, Franz and Wüsthoff, Tilo and Suppa, Michael (2011) DLR VR-SCAN: A versatile and robust miniaturized laser scanner for short range 3D-modelling and exploration in robotics. In: Proceedings of IROS 2011, pp. 1933-1939. IROS 2011, 25.-30. Sept. 2011, San Francisco, USA.

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Abstract

Precise and robust perception of the environment is crucial for highly integrated and autonomous robot systems. In this paper the dedicated design of a triangulation based laser range scanner optimized for 3D-modelling and autonomous exploration in robotics is presented. The presented laser scanner design is based on an extremely small MEMS scan head permitting a compact, lightweight and highly integrated implementation allowing for hand-eye operation. Special capabilities like variable range and confidence rating of the measuring values increase robustness. The design considerations and a prototype are described and experimental results are presented.

Document Type:Conference or Workshop Item (Paper)
Title:DLR VR-SCAN: A versatile and robust miniaturized laser scanner for short range 3D-modelling and exploration in robotics
Authors:
AuthorsInstitution or Email of Authors
Kielhöfer, Simonsimon.kielhoefer@dlr.de
Bahls, Thomasthomas.bahls@dlr.de
Hacker, Franzfranz.hacker@dlr.de
Wüsthoff, Tilotilo.wuesthoff@dlr.de
Suppa, Michaelmichael.suppa@dlr.de
Date:25 September 2011
Journal or Publication Title:Proceedings of IROS 2011
Refereed publication:Yes
In ISI Web of Science:No
Page Range:pp. 1933-1939
Status:Published
Keywords:laser scanner, robot vision, 3d-modelling, exploration
Event Title:IROS 2011
Event Location:San Francisco, USA
Event Type:international Conference
Event Dates:25.-30. Sept. 2011
Organizer:IEEE/RSJ
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Space Technology
DLR - Research area:Raumfahrt
DLR - Program:R SY - Technik für Raumfahrtsysteme
DLR - Research theme (Project):R - Vorhaben Multisensorielle Weltmodellierung
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics > Robotic Systems
Deposited By: Simon Kielhöfer
Deposited On:15 Dec 2011 16:42
Last Modified:12 Dec 2013 21:29

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