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Three-dimensional mapping with time-of-flight cameras

May, Stefan and Fuchs, Stefan and Droeschel, David and Holz, Dirk and Nuechter, Andreas and Hertzberg, Joachim and Malis, Ezio (2009) Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics (3). Wiley. doi: 10.1002/rob.20321.

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Official 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

Item URL in elib:https://elib.dlr.de/62522/
Document Type:Article
Title:Three-dimensional mapping with time-of-flight cameras
AuthorsInstitution or Email of AuthorsAuthor's ORCID iDORCID Put Code
May, Stefan Fraunhofer IAIS, Schloss Birlinghoven, Sankt AugustinUNSPECIFIEDUNSPECIFIED
Droeschel, David Fraunhofer IAIS, Schloss Birlinghoven, Sankt AugustinUNSPECIFIEDUNSPECIFIED
Holz, Dirk Fraunhofer IAIS, Schloss Birlinghoven, Sankt AugustinUNSPECIFIEDUNSPECIFIED
Nuechter, Andreas Jacobs University BremenUNSPECIFIEDUNSPECIFIED
Hertzberg, Joachim University of OsnabrückUNSPECIFIEDUNSPECIFIED
Malis, Ezio INRIA, Sophia-Antipolis, FranceUNSPECIFIEDUNSPECIFIED
Date:20 October 2009
Journal or Publication Title:Journal of Field Robotics
Refereed publication:Yes
Open Access:No
Gold Open Access:No
In ISI Web of Science:Yes
Series Name:Special Issue: Three-Dimensional Mapping
Keywords:3D Mapping, Time-of-Flight Cameras
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 - Telerobotik und Autonomie (old)
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (until 2012) > Robotic Systems
Deposited By: Beinhofer, Gabriele
Deposited On:15 Jan 2010 08:31
Last Modified:22 Mar 2024 10:13

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