Rink, Christian und Kriegel, Simon und Seth, Daniel und Denninger, Maximilian und Marton, Zoltan-Csaba und Bodenmüller, Tim (2016) Monte Carlo Registration and Its Application with Autonomous Robots. Journal of Sensors, 2016. Hindawi Publishing Corporation. doi: 10.1155/2016/2546819. ISSN 1687-725X.
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Offizielle URL: https://www.hindawi.com/journals/js/2016/2546819/ref/
Kurzfassung
This work focuses on Monte Carlo registration methods and their application with autonomous robots. A streaming and an offline variant are developed, both based on a particle filter. The streaming registration is performed in real-time during data acquisition with a laser striper allowing for on-the-fly pose estimation. Thus, the acquired data can be instantly utilized, for example, for object modeling or robot manipulation, and the laser scan can be aborted after convergence. Curvature features are calculated online and the estimated poses are optimized in the particle weighting step. For sampling the pose particles, uniform, normal, and Bingham distributions are compared. The methods are evaluated with a high-precision laser striper attached to an industrial robot and with a noisy Time-of-Flight camera attached to service robots. The shown applications range from robot assisted teleoperation, over autonomous object modeling, to mobile robot localization.
elib-URL des Eintrags: | https://elib.dlr.de/106308/ | ||||||||||||||||||||||||||||
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Dokumentart: | Zeitschriftenbeitrag | ||||||||||||||||||||||||||||
Titel: | Monte Carlo Registration and Its Application with Autonomous Robots | ||||||||||||||||||||||||||||
Autoren: |
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Datum: | 10 Juli 2016 | ||||||||||||||||||||||||||||
Erschienen in: | Journal of Sensors | ||||||||||||||||||||||||||||
Referierte Publikation: | Ja | ||||||||||||||||||||||||||||
Open Access: | Ja | ||||||||||||||||||||||||||||
Gold Open Access: | Ja | ||||||||||||||||||||||||||||
In SCOPUS: | Ja | ||||||||||||||||||||||||||||
In ISI Web of Science: | Ja | ||||||||||||||||||||||||||||
Band: | 2016 | ||||||||||||||||||||||||||||
DOI: | 10.1155/2016/2546819 | ||||||||||||||||||||||||||||
Herausgeber: |
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Verlag: | Hindawi Publishing Corporation | ||||||||||||||||||||||||||||
ISSN: | 1687-725X | ||||||||||||||||||||||||||||
Status: | veröffentlicht | ||||||||||||||||||||||||||||
Stichwörter: | pose estimation, 3D modeling, localization | ||||||||||||||||||||||||||||
HGF - Forschungsbereich: | Luftfahrt, Raumfahrt und Verkehr | ||||||||||||||||||||||||||||
HGF - Programm: | Raumfahrt | ||||||||||||||||||||||||||||
HGF - Programmthema: | Technik für Raumfahrtsysteme | ||||||||||||||||||||||||||||
DLR - Schwerpunkt: | Raumfahrt | ||||||||||||||||||||||||||||
DLR - Forschungsgebiet: | R SY - Technik für Raumfahrtsysteme | ||||||||||||||||||||||||||||
DLR - Teilgebiet (Projekt, Vorhaben): | R - Vorhaben Multisensorielle Weltmodellierung (alt) | ||||||||||||||||||||||||||||
Standort: | Oberpfaffenhofen | ||||||||||||||||||||||||||||
Institute & Einrichtungen: | Institut für Robotik und Mechatronik (ab 2013) Institut für Robotik und Mechatronik (ab 2013) > Perzeption und Kognition | ||||||||||||||||||||||||||||
Hinterlegt von: | Rink, Christian | ||||||||||||||||||||||||||||
Hinterlegt am: | 04 Nov 2016 13:44 | ||||||||||||||||||||||||||||
Letzte Änderung: | 08 Nov 2023 15:21 |
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