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Monte Carlo Registration and Its Application with Autonomous Robots

Rink, Christian and Kriegel, Simon and Seth, Daniel and Denninger, Maximilian and Marton, Zoltan-Csaba and 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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Official URL: https://www.hindawi.com/journals/js/2016/2546819/ref/

Abstract

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.

Item URL in elib:https://elib.dlr.de/106308/
Document Type:Article
Title:Monte Carlo Registration and Its Application with Autonomous Robots
Authors:
AuthorsInstitution or Email of AuthorsAuthor's ORCID iD
Rink, ChristianChristian.Rink (at) dlr.dehttps://orcid.org/0000-0002-2175-0068
Kriegel, SimonSimon.Kriegel (at) dlr.dehttps://orcid.org/0000-0003-4711-8527
Seth, DanielDaniel.Seth (at) dlr.dehttps://orcid.org/0000-0002-6138-1252
Denninger, MaximilianMaximilian.Denninger (at) dlr.dehttps://orcid.org/0000-0002-1557-2234
Marton, Zoltan-CsabaZoltan.Marton (at) dlr.dehttps://orcid.org/0000-0002-3035-493X
Bodenmüller, TimTim.Bodenmueller (at) dlr.dehttps://orcid.org/0000-0003-0899-361X
Date:10 July 2016
Journal or Publication Title:Journal of Sensors
Refereed publication:Yes
Open Access:Yes
Gold Open Access:Yes
In SCOPUS:Yes
In ISI Web of Science:Yes
Volume:2016
DOI :10.1155/2016/2546819
Editors:
EditorsEmailEditor's ORCID iD
Gil, PabloUNSPECIFIEDUNSPECIFIED
Publisher:Hindawi Publishing Corporation
ISSN:1687-725X
Status:Published
Keywords:pose estimation, 3D modeling, localization
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 (since 2013)
Institute of Robotics and Mechatronics (since 2013) > Perception and Cognition
Deposited By: Rink, Christian
Deposited On:04 Nov 2016 13:44
Last Modified:05 Feb 2020 15:04

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